JP2021073948A - Work vehicle - Google Patents

Abstract

To provide a work vehicle that allows an automatic steering apparatus using a navigation system to be retrofitted to an existing work vehicle at low cost and that also allows a tablet terminal that displays the current location and the work target route of the vehicle in particular to be provided without impairing the steering wheel handling and the front view of the worker seated on a driver's seat.SOLUTION: A work vehicle includes a support frame for mounting a panel cover that includes equipment such as a meter and switches disposed at the front of a driver's seat, and a bracket mounted to the support frame at its root portion. The tip end of the bracket can hold a tablet terminal detachably via a holder such that the tablet terminal can be provided without impairing the steering wheel handling and the front view of the worker seated on the driver's seat.SELECTED DRAWING: Figure 15

Description

The present invention relates to a work vehicle mainly for agriculture such as a tractor and a passenger-type rice transplanter, and more particularly to a work vehicle provided with a tablet terminal for displaying the current position of the work vehicle and a work target route.

For agricultural work vehicles, plowing work and seedling planting work are performed in the field. Further, when the work vehicle performs the work travel, it is important to travel the traveling machine body as straight as possible and at regular work intervals in order to reduce unworked areas and overlapping work areas and improve work efficiency. Therefore, a navigation system has been developed that displays the current position of the work vehicle, the work target route, etc., and allows the worker to drive the work vehicle based on the information to support the practice of lean and high-precision work. There is.

And this navigation system is, for example, from a GNSS (Global Positioning System) receiver equipped with a short-range wireless communication function, a tablet terminal also equipped with a short-range wireless communication function, a navigation software installed on this tablet terminal, and the like. Configure. In addition, the navigation system retrofits these devices to the work vehicle, and first performs teaching running by manual steering at the start of the work to acquire the work direction in the straight-ahead direction.

Furthermore, the work target route from the next time onward is calculated based on the acquired work direction, and then the current position of the work vehicle, the work target route, the deviation from the work target route, etc. are graphically displayed on the display of the tablet terminal together with the numerical values. We will provide support for workers to drive straight ahead. In addition, research is underway to automatically steer a work vehicle for the purpose of improving the accuracy of straight-ahead driving and reducing the maneuvering burden on the operator by utilizing the concept of such a navigation system.

Then, as a device for automatically steering a work vehicle using such a positioning system, for example, in an agricultural work vehicle that autonomously travels straight while measuring the vehicle body position by GPS, a meter panel or a meter panel on the dashboard at the rear of the bonnet Arrange a steering wheel and provide an automatic driving indicator lamp, teaching indicator lamp, GPS communication indicator lamp, abnormality indicator lamp, autonomous driving position indicator lamp, automatic driving switching SW, teaching SW, autonomous driving SW, etc. on this instrument panel. Is known (see Patent Document 1).

In addition, GPS control devices that acquire the position information of tractors and seedling transplanters, controllers that control each part, automatic steering devices that maintain the traveling vehicle body in the straight direction, tablet terminal devices that display work information, map data, etc. It is known that the traveling vehicle is automatically steered and controlled (see Patent Document 2).

Furthermore, it is equipped with a steering handle that steers the vehicle body and a display device that can display at least a guidance screen that displays a command to adjust the driving conditions of the vehicle body. It is possible to drive by either automatic steering, and the display device displays a guidance screen before the start of automatic steering, and displays a steering instruction unit indicating the steering direction of the vehicle body corresponding to the driving conditions on the guidance screen. It is known (see Patent Document 3).

Japanese Unexamined Patent Publication No. 2008-92818 Japanese Unexamined Patent Publication No. 2016-154501 JP-A-2019-126284

If the navigation system is provided on the work vehicle as described above and the work vehicle is driven while observing the current position of the work vehicle, the work target route, and the like, it is possible to perform highly accurate work without waste. In addition, if an automatic steering device using the navigation system is provided and the work vehicle is automatically steered according to the work target route, the operator can be released from the steering operation and reduce fatigue even during long working hours. In addition, even an unfamiliar worker can perform work running on a par with a skilled worker.

However, as in Patent Document 1 described above, the automatic operation indicator lamp, the teaching indicator lamp, the GPS communication indicator lamp, the abnormality indicator lamp, the autonomous driving position indicator lamp, the automatic operation switching SW, the teaching SW and the autonomous operation SW are on the instrument panel. If such means are provided, a new meter panel equipped with these lamps and switches will be newly provided in place of the conventional meter panel, and rearrangement work will also be required, leading to an increase in cost.

Similarly, as in Patent Document 3, a guidance screen for displaying various information related to driving and commands for adjusting the driving conditions of the vehicle body is displayed on a display device provided in front of the driver's seat, or in the vicinity of this display device. By centrally providing steering changeover switches that switch between automatic steering and manual steering, a new work vehicle will be developed as a work vehicle equipped with an automatic steering device that uses a navigation system, and existing work vehicles will be replaced. It becomes difficult to modify and deal with it.

In that respect, as in Patent Document 2, when work information, map data, etc. are displayed on a tablet terminal device (tablet terminal) originally used for a navigation system, the tablet terminal is used as a navigation device for a work vehicle equipped with an automatic steering device. It is possible to eliminate the need to newly create a meter panel and display device as described above, and provide a work vehicle equipped with an automatic steering device using the navigation system described above at a low cost while reducing the development period and development cost. can do.

However, since this tablet terminal is originally intended to be carried around with various applications, when a worker sits in the driver's seat and tries to check the current position of the work vehicle and the work target route at hand, he / she drives aside. Therefore, there is a problem that the driving operation of the work vehicle and the monitoring of the front of the machine are neglected. Therefore, it is conceivable to attach a holder to a panel cover provided in front of the driver's seat with meters and switches by using a suction cup or an adhesive tape, and to detachably provide a tablet terminal on the holder.

Therefore, the work vehicle may run in a field with many irregularities, and the vibration of the machine body is more intense than that of an automobile, and even if the holder is attached to the panel cover with a suction cup or adhesive tape, the holder immediately vibrates. There is a risk of falling out. Further, if the tablet terminal is provided on the panel cover, the tablet terminal is provided above the meter or the like, which may obstruct the front view and hinder the driving operation or hinder the operation of the switches.

Therefore, in view of the above problems, the present invention allows an automatic steering device using a navigation system to be retrofitted to an existing work vehicle at low cost, and in particular, a tablet that displays the current position of the machine and the work target route. An object of the present invention is to provide a work vehicle in which a terminal can be provided so as not to obstruct the steering wheel operation and forward visibility of an operator seated in the driver's seat.

In order to solve the above-mentioned problems, the work vehicle of the present invention is first provided with a panel cover provided with a steering wheel and meters and switches in front of the driver's seat, and a positioning means and a work target for acquiring the current position of the aircraft. A navigation system consisting of a calculation means for calculating the amount of deviation of the aircraft from the route, a tablet terminal for displaying the current position of the aircraft and the work target route, and an automatic steering device for steering the aircraft so as to follow the work target route are provided. In a work vehicle, the base of the bracket is attached to the support frame to which the panel cover is attached, and the tablet terminal is detachably provided at the tip of the bracket via the holder to operate the steering wheel of the operator seated in the driver's seat. It is characterized by providing a tablet terminal so as not to obstruct the front view.

Secondly, in the present invention, the support frame for mounting the panel cover is provided with a mounting seat for mounting the rearview mirror stay, and the rearview mirror stay and the base of the bracket of the tablet terminal are jointly fastened to the mounting seat with bolts. It is characterized by being attached.

Further, in the third aspect of the present invention, the support frame for mounting the panel cover is provided with left and right mounting seats for mounting the stays of the left and right rearview mirrors, respectively, and the bracket of the tablet terminal is selected for the left and right mounting seats. It is characterized in that it is formed so that it can be attached to the tablet terminal so that the tablet terminal can be provided on the right side or the left side of the panel cover.

Fourth, the present invention is characterized in that the other end of the connecting bracket whose one end is fixed to the intermediate portion of the bracket is fastened together with the panel cover to the support frame to which the panel cover is attached by bolting.

Further, in the fifth aspect of the present invention, the bracket of the tablet terminal is composed of a lower bracket for attaching the support frame to which the panel cover is attached and an upper bracket for attaching the holder to the tip portion, and the upper bracket can be moved up and down on the lower bracket. It is characterized by being attached.

The work vehicle of the present invention is provided with a panel cover provided with a steering wheel and meters and switches in front of the driver's seat, and also calculates a positioning means for acquiring the current position of the aircraft and the amount of deviation of the aircraft from the work target route. In a work vehicle provided with a calculation means, a navigation system consisting of a tablet terminal that displays the current position of the aircraft and a work target route, and an automatic steering device that steers the aircraft so as to follow the work target route, the panel cover is used. The base of the bracket is attached to the support frame to be attached, and the tablet terminal is detachably provided at the tip of this bracket via the holder so that the operator sitting in the driver's seat does not interfere with the steering wheel operation or forward visibility. Is provided.

Therefore, a navigation system and an automatic steering device are provided in the work vehicle, and the work vehicle can be driven while observing the current position of the work vehicle, the work target route, etc., and it is possible to perform lean and highly accurate work. The work vehicle can be automatically steered according to the work target route, and the worker is freed from the steering operation and can reduce fatigue even during long work runs, and even an inexperienced worker can be as good as an expert. Can perform work driving.

In addition, since the tablet terminal that displays the current position of the machine and the work target route is attached to the support frame to which the panel cover is attached at the base of the bracket and is detachably provided at the tip of the bracket via the holder, meters and switches are provided. A support frame originally provided for strength can be utilized to attach the panel cover provided with the tablet terminal to the support frame via a bracket.

Moreover, since the tablet terminal attached to the support frame via the bracket and the holder is provided so as not to obstruct the steering wheel operation and the front view of the operator seated in the driver's seat, the operator can display the front of the aircraft and the tablet terminal. While viewing the screen substantially at the same time, for example, the work vehicle can be accurately turned to the start position of the automatic steering control that follows the work target path by manually operating the steering wheel. Therefore, it is possible to smoothly shift to the automatic steering control without causing a problem that the work vehicle meanders due to the deviation at the start of the automatic steering control as in the case of relying only on the visual inspection in front of the machine body.

Further, the support frame for mounting the panel cover is provided with a mounting seat for mounting the rearview mirror stay, and the rearview mirror stay and the base of the bracket of the tablet terminal are fastened together with bolts to the mounting seat to mount the tablet terminal. The bracket can be mounted together with the rearview mirror stay using the mounting seat of the support frame that mounts the rearview mirror stay, for example, it is not necessary to newly provide a mounting seat on the support frame to mount the bracket, and it is easy. The tablet terminal can be retrofitted to an existing work vehicle.

Further, the support frame for mounting the panel cover is provided with left and right mounting seats for mounting the left and right rearview mirror stays, respectively, and the bracket of the tablet terminal can be selectively mounted on the left and right mounting seats. If the tablet terminal can be provided on the right side or the left side of the panel cover by forming the tablet terminal, the upper side of the panel cover is opened to secure the field of view in front of the aircraft, and then the side opposite to the side where the field of view is desired to be further secured. It is possible to widen the field of view in front of the aircraft on the side to be secured by installing a tablet terminal.

Moreover, the bracket has a symmetrical shape so that the tablet terminal can be provided at a symmetrical position on the right side or the left side of the panel cover regardless of whether the base is attached to the left or right mounting seat of the support frame. Therefore, it is not necessary to prepare the right or left bracket, and the bracket can be provided at low cost by reducing the management cost of parts and the like.

Then, when the other end of the connecting bracket that fixes one end to the middle portion of the bracket is fastened together with the panel cover to the support frame to which the panel cover is attached with bolts, the tablet terminal shakes greatly due to vibration during running or the like. It may be difficult to see, but by attaching the middle part of the bracket to the support frame via the connecting bracket, it is possible to eliminate the vibration of the tablet terminal. Also in this case, since the other end of the connecting bracket is fastened together with the panel cover with bolts, it is not necessary to newly provide a mounting seat on the support frame, and the tablet terminal can be easily retrofitted to the existing work vehicle. be able to.

Further, the bracket of the tablet terminal is composed of a lower bracket for attaching to the support frame to which the panel cover is attached and an upper bracket for attaching the holder to the tip portion, and when the upper bracket is attached to the lower bracket so as to be movable up and down, the tablet terminal is provided. The height can be changed, for example, so that the tablet terminal does not interfere with the visibility of the rearview mirror when the normal rearview mirror and the larger rearview mirror are replaced and attached to the support frame. It can be provided by changing the height.

It is a side view of the tractor to which this invention is applied. It is a perspective view which shows the structure of the control frame. It is a block diagram of a navigation system. It is a perspective view of a steering unit. It is a perspective view which shows the mounting state of the RTK-GNSS receiving device. It is an exploded view seen from the front side of the antenna bracket (standard). It is an exploded view seen from the rear side of the antenna bracket (standard). It is a perspective view of the antenna bracket (standard). It is a perspective view which attached the hood and the RTK-GNSS receiver to the roll bar. It is explanatory drawing which retracts an RTK-GNSS receiving apparatus upward. It is an exploded view seen from the front side of the antenna bracket (wearing together with a hood). It is an exploded view seen from the rear side of the antenna bracket (wearing together with a hood). It is a perspective view of the antenna bracket (wearing together with a hood). The antenna bracket (worn together with the hood) is shown, (a) is a front view, (b) is a plan view, and (c) is a side view. It is a perspective view which attached the tablet terminal to a holder. It is a perspective view which attached the bracket and the holder to the support frame. It is an exploded view at the time of attaching a bracket to a support frame. The holder is shown, (a) is a perspective view seen from the front side, and (b) is a perspective view seen from the back side. This is the guidance screen of the tablet terminal. It is a side view of the tractor which concerns on 2nd Embodiment. It is a perspective view which shows the mounting state of the RTK-GNSS receiving apparatus which concerns on 2nd Embodiment. It is a perspective view which provides the anti-vibration metal fitting on the roll bar, (a) shows before mounting, and (b) shows after mounting. The anti-vibration metal fittings are shown, (a) is a perspective view seen from the front side, and (b) is a perspective view seen from the rear side. It is a perspective view which attached the tablet terminal which concerns on 2nd Embodiment to a holder. It is a perspective view which attached the bracket and the holder to the support frame which concerns on 2nd Embodiment. It is an exploded view at the time of attaching a bracket to the support frame which concerns on 2nd Embodiment.

Embodiments of the present invention will be described with reference to the drawings. As shown in FIG. 1, in the agricultural tractor 1 as a work vehicle according to the first embodiment, an engine 2, a clutch housing 3, a transmission case 4, and the like are integrally connected from the front to form a vehicle body (traveling machine). Configure. Further, near the front part of the vehicle body, a bonnet 5 and a side cover 6 having headlamps for covering the engine 2 and auxiliary equipment of the engine 2 are provided, and the bonnet 5 can be opened and closed on the front side via a hinge provided on the rear part. Configure.

Further, the front bracket 7 fixed to the engine 2 and extending forward swings the front axle case to the left and right. Front axle cases (kingpin case and final case) are attached to the left and right ends of this front axle case. Further, the front axle case pivotally supports the front axle 9 to which the front wheels 8 are attached, and the steering wheel 10 provided in the control portion steers the left and right front wheels 8 via the all-hydraulic power steering unit.

On the other hand, rear axle cases connected to the left and right of the transmission case 4 are provided near the rear of the vehicle body, and the left and right rear wheels 12 are attached to the rear axle 11 which is pivotally supported by the rear axle case. Further, at the rear part of the vehicle body, a well-known three-point link mechanism consisting of a top link 13 and left and right lower links 14 and a connecting device such as a drawbar are provided, and these connecting devices are a rotary tiller, a ridger, or a seeder. The engine power is transmitted to the work equipment from the PTO shaft (power take-off shaft) that is pivotally supported at the rear of the transmission case 4 by connecting the work equipment such as the transplanter and the transplanter.

Further, a control frame 15 is provided on the vehicle body behind the engine 2 via anti-vibration rubber. As shown in FIG. 2, the control frame 15 includes a lower floor 16, a seat support portion 18 for mounting a driver's seat 17 to be raised rearward from the floor 16, and a rear wall 19 to be raised from the rear of the seat support portion 18. The left and right fender portions 20 and the like are integrally connected to each other, and a gate-shaped support frame 21 is erected on the front portion of the floor 16 to provide a meter 22, an engine 2 start / stop switch 23, and various types. A panel cover 25 including operation switches 24 for automatic control and a rear panel cover 26 covering the lower side thereof are attached with bolts (see FIG. 12).

A rearward bracket 27 is integrally provided near the upper portion of the support frame 21, and a steering shaft connecting the steering wheel 10 to the upper end thereof is covered with a column and attached to the bracket 27 so as to be tiltable. A clutch pedal 28 facing the floor 16, left and right brake pedals, a forward / backward switching lever 29, an engine control lever 30, and the like are provided. Further, the left and right columns 31 are erected on the floor 16 on the left and right outer sides of the support frame 21, and the upper portions of the left and right columns 31 and the upper portion of the support frame 21 are connected by a plate 32.

Then, a shielding cover 33 is provided in the frame surrounded by these to prevent the mud and the like splashed up by the front wheels 8 from reaching the control portion on the floor 16 side (see FIG. 14). Further, front lamps 34 are provided on the left and right columns 31, respectively, and the bases 36a and 36b of the stay 36 of the rearview mirror 35 are attached to the upper part of the support frame 21 and the plate 32, and the left and right rearview mirrors 35 are attached to the tip of the stay 36. Each portion 36c is provided. On the other hand, a safety frame composed of an inverted U-shaped roll bar 37 is foldably attached to the rear portion of the control frame 15, and the roll bar 37 is provided with left and right rear combination lamps 38.

Next, the navigation system provided as an option to the tractor 1 will be described with reference to the block diagram of FIG. First, this navigation system can be easily retrofitted even if the tractor 1 is already provided, and in particular, the current position of the tractor 1, the work target route, and the like are displayed, and the operator displays the display information. Based on this, the tractor 1 can be manually operated according to the work target route, and the front wheels 8 can be automatically steered according to the work target route.

Therefore, the navigation system is based on the Global Navigation Satellite System (GNSS) by Real Time Kinematic (RTK), which can acquire the position of the traveling aircraft with centimeter-class accuracy. Measure position and orientation. Therefore, the navigation system includes an RTK-GNSS receiving device 39, an RTK fixed station 40, a tablet terminal 41, and a steering unit 42 that automatically steers the front wheels 8.

Then, the RTK-GNSS receiver 39 was emitted from two GNSS antennas 43 and 44 for position and orientation for capturing radio waves emitted from the GNSS satellite, and each satellite captured by these two GNSS antennas 43 and 44. Two GNSS receivers 45 and 46 that receive a signal and demolish it to restore information, a radio antenna 47 that captures radio waves emitted from the RTK fixed station 40, and a radio antenna 47 that receives the signal captured by this radio antenna 47 and receives it. A specific low power radio wave 48 that demolishes and restores information is provided.

Further, the RTK-GNSS receiver 39 is a near antenna built-in type that exchanges information between an inertial measurement unit 49 composed of a 3-axis gyro for detecting the posture of a traveling vehicle and an accelerometer in 3 directions, and a tablet terminal 41. It includes a range radio 50, a GNSS controller 51 composed of an electronic control unit (ECU), a display 52 composed of a 7-segment LED, and the like. In the RTK-GNSS receiving device 39, each device excluding the GNSS antennas 43 and 44 and the wireless antenna 47 is integrated into a single board to form a GNSS unit 53.

On the other hand, the RTK fixed station 40 receives the GNSS antenna 54 that captures the radio waves emitted from the tripod that secures the installation height and the satellite provided on the tripod, and the signal emitted from the satellite captured by the GNSS antenna 54 and receives the signal. A power supply battery composed of a GNSS receiver 55 that demolishes and restores information, a specific low power radio 56 that transmits information restored by the GNSS receiver 55 to the RTK-GNSS receiver 39, its wireless antenna 57, and a dry battery. It is composed of 58 and the like, and is installed in a stable place with good visibility, for example, within 300 meters from the field where the mobile station tractor 1 works, and there are no obstacles such as mountains, trees, and tall buildings around it.

In addition, the tablet terminal 41, which is a thin and lightweight computer equipped with a liquid crystal display (display means) with a touch panel, has a built-in wireless LAN and a built-in antenna type short-range radio 59 having a communication distance of about 10 meters. Mount. Then, the tablet terminal 41 is used while being stationary in the control unit of the tractor 1 and charging the built-in battery by using a power supply take-out connector or the like provided in the tractor 1 as needed.

Navigation software is pre-installed on the tablet terminal 41, and when the navigation software expands its functions, it can be updated from the Internet using a wireless LAN or the like. Further, the short-range radio 59 of the tablet terminal 41 and the short-range radio 50 of the GNSS unit 53 are paired in advance so that they can be automatically connected from the next time onward.

The steering unit 42 is composed of a steering ECU 60 composed of an electronic control unit, an operation switch group 61, an LED lamp group 62, a stepping motor 63, a transmission unit 64, and the like, and is entirely made of resin as shown in FIG. A steering unit 42 covered with a steering wheel or a bottom plate is attached to the upper part of the steering column below the steering wheel 10, and the steering shaft is rotated together with the steering wheel 10 to steer the front wheels 8.

When installing the steering unit 42, the steering wheel 10 provided on the upper part of the steering shaft is first removed, and then the lower part of the joint shaft 65 provided on the transmission portion 64 is fitted to the upper part of the steering shaft. 42 is attached to the top of the steering column. Further, the removed steering wheel 10 can be attached to the upper part of the joint shaft 65, and the steering unit 42 can be retrofitted to the existing tractor 1.

When the steering unit 42 is attached in this way, when the steering wheel 10 is manually operated, the steering shaft is rotated via the joint shaft 65 described above, and the steering shaft has full hydraulic power. The front wheels 8 are steered via the steering unit. On the other hand, when the stepping motor 63 of the steering unit 42 rotates forward and reverse based on a command from the steering ECU 60, the stepping motor 63 rotates the joint shaft 65 via the gear reduction mechanism 66 provided in the transmission unit 64, and the following is manual. The front wheels 8 are automatically steered in the same manner as the operation.

The device configuration of the navigation system provided as an option to the tractor 1 has been described above. Next, a method of mounting the RTK-GNSS receiving device 39 on the tractor 1 will be described. As shown in FIGS. 5 to 8, the RTK-GNSS receiver 39 is provided above the safety frame provided behind the driver's seat 17 of the tractor 1, and the radio waves emitted from the GNSS satellite are less affected by obstacles and multipath. To be able to catch it.

More specifically, the inverted U-shaped roll bar 37 provided at the rear portion of the control frame 15 is formed by bending a square pipe material, and the left and right holders provided with the lower end portions 37a of the left and right legs thereof provided at the rear portion of the control frame 15. A fulcrum pin 68 and a fixing pin 69 are attached to 67 so as to be switchable between a substantially upright posture, a rearwardly lying posture, and an oblique posture in between. Then, during work running or the like, the roll bar 37 is switched to a substantially upright posture, and the lower end portion 37a is pushed by the push bolt 70 provided on the holder 67 to cause rattling of the roll bar 37 based on the gap between the pins and the pin holes. To prevent.

Further, since the roll bar 37 is provided to protect the safety of the operator sitting in the driver's seat 17 when the tractor 1 falls down, at least RTK-GNSS is located at a position outside the safety range obtained by the safety frame. It is desirable to provide a receiving device 39. Therefore, the RTK-GNSS receiving device 39 is provided so as to be located behind the horizontal portion 37b above the roll bar 37, and even if the tractor 1 falls, the worker's head or the like hits the RTK-GNSS receiving device 39 and is injured. Install so as not to.

Further, the roll bar 37 provided on the tractor 1 has a slightly different inclination when it is upright depending on the model and model, and when the hood is attached to the upper part of the roll bar 37 as an attachment, RTK-GNSS reception is received so as not to interfere with the hood. There are various restrictions such as the device 39 must be provided. Therefore, if the RTK-GNSS receiver 39 can be individually mounted on the roll bar 37 due to these restrictions, the number of mounting parts may become large and the cost may increase.

Therefore, a common first antenna bracket 71 that can be attached to the horizontal portion 37b of each roll bar 37 and a second antenna bracket 72 that can be attached to the first antenna bracket 71 and can be individually handled are provided. The RTK-GNSS receiver 39 is finally attached to the antenna bracket 72 of 2. The first antenna bracket 71 includes a base 71a formed in a U-shaped cross section as shown in FIG. 6, a pipe 71c provided on the lower surface of the base 71a together with a reinforcing plate 71b, and mounting plates provided at both ends of the pipe 71c. 71d are welded to each other to form an integral piece.

Then, the first antenna bracket 71 inserts the U-shaped portion of the base 71a into the horizontal portion 37b of the roll bar 37 from the front, and closes the rear side with four bolts 73 to close the horizontal portion 37b of the roll bar 37. Hold in. Insert as many shims (large) 74 as possible between the lower surface of the U-shaped portion of the base 71a and the lower surface of the horizontal portion 37b to create a gap between the upper and lower surfaces of the U-shaped portion and the horizontal portion 37b. Also, tighten the bolt 73 after reducing the number of shims (small) 76 to be inserted between the lower surface of the collar 75 to be attached to the bolt 73 and the upper surface of the shim (large) 74 by one less than the maximum number that can be inserted. Include.

Therefore, even if the torque control at the time of tightening the bolt 73 is not strict, the first antenna bracket 71 can be uniformly sandwiched and attached to the horizontal portion 37b of the roll bar 37 at an appropriate pressure without being deformed. In this case, the first antenna bracket 71 can be reliably retrofitted without any processing or the like on the roll bar 37 side. On the other hand, several types of second antenna brackets 72 are prepared, and those suitable for the tractor 1 to be mounted are used.

Therefore, if the roll bar 37 does not have a hood or the like, which will be described later, for example, a standard second antenna bracket 72 is used, and the bracket 72 is behind the base portion to be mounted on the left and right sides of the mounting plate 71d of the first antenna bracket 71. It is formed by left and right side plates 72b that rise upward from the side and provide a mounting seat 72a at the upper end thereof. When the second antenna bracket 72 is attached to the first antenna bracket 71, the inclination of the second antenna bracket 72 is changed according to the inclination of the roll bar 37 when the roll bar 37 is upright.

That is, when the mounting plate 71d of the first antenna bracket 71 and the side plate 72b of the second antenna bracket 72 are overlapped and mounted with two bolts on one side, there is one hole 71e and one 72c through which the bolt near the rear is passed. However, if two holes for passing bolts near the front are provided, upper holes 71f and 72d and lower holes 71g and 72e, respectively, and the roll bar 37 is tilted slightly forward, for example, when the roll bar 37 is upright. , The bolts near the front are fixed to each other through the upper holes 71f and 72d, respectively. If the roll bar 37 tilts slightly backward as shown in the embodiment (see FIG. 1), the bolts closer to the front are fixed to each other through the prepared holes 71g and 72e, respectively. To do.

Then, when the hole through which the bolt is passed is changed in this way, the mounting angle of the second antenna bracket 72 with respect to the first antenna bracket 71 in the front-rear direction changes, and even if the roll bar 37 tilts forward or backward. , The orientation of the mounting seat 72a of the second antenna bracket 72 after mounting the first antenna bracket 71 and the second antenna bracket 72 on each roll bar 37 is set to a predetermined angle such as horizontal. be able to.

On the other hand, in the case of the roll bar 37 provided with the hood 77 as shown in FIGS. 9 and 10, if the above-mentioned standard second antenna bracket 72 is used, the antenna bracket 72 hits the rear portion of the hood 77. Therefore, in this case, as shown in FIGS. 11 to 14, a second antenna bracket 72 that is co-worn with the hood and has a long side plate 72b on the rear side is used so as not to interfere with the hood 77. Since the side plates 72b of the second antenna bracket 72 worn together with the hood are elongated to the rear side, the left and right side plates 72b are fixed and reinforced with the plates 72g. Further, if the roll bar 37 is switched from a substantially upright posture to a backward lying posture or an oblique posture, there is a risk of interfering with a work machine provided below the roll bar 37.

Therefore, as the hood 77 is bent with respect to the roll bar 37 to store the hood 77 horizontally, the second antenna bracket 72, which is worn together with the hood with respect to the first antenna bracket 71, is inserted into the above-mentioned hole. A bolt through hole 71h is provided in the first antenna bracket 71, and a second antenna bracket is provided so that the rear side can be lifted and fixed by rotating around the rear bolt passing through the 71e and 72c. An elongated hole 72h is provided in the side plate 72b of the 72, and when the above-mentioned bolt near the front is removed and the bolt is tightened through the elongated hole 72h and the hole 71h, the second antenna bracket 72 worn together with the hood is attached to the first antenna bracket 72. The mounting angle with respect to the antenna bracket 71 can be changed to an arbitrary angle, whereby interference with the working machine can be prevented.

When the above-mentioned first antenna bracket 71 is attached to the horizontal portion 37b of the roll bar 37, it is necessary to attach the first antenna bracket 71 at a predetermined position such as the center of the horizontal portion 37b in the left-right direction. In that case, a hole 71i for passing the plumb bob thread is provided in the central reinforcing plate 71b provided on the lower surface of the base 71a, and the plumb bob attached to the hole 71i is, for example, the center of the PTO shaft pivotally supported at the rear portion of the transmission case 4. If the first antenna bracket 71 is moved left and right to be attached to the horizontal portion 37b so as to match the above, the first antenna bracket 71 can be accurately attached to the center of the horizontal portion 37b of the roll bar 37 in the left-right direction. ..

Further, when the first antenna bracket 71 is attached to the roll bar 37, the lower portion of the first antenna bracket 71 is located below the horizontal portion 37b of the roll bar 37, so that the working state can be changed during work running or the like. If the operator turns around and leans forward to check, he / she may accidentally hit his / her head against the first antenna bracket 71 and be injured. Therefore, a rectangular head guard cover 78 extending over the front surface of the first antenna bracket 71 is attached to the front portion to protect the operator.

The method of attaching the first antenna bracket 71 and the second antenna bracket 72 to the roll bar 37 has been described above, but the RTK-GNSS receiver 39 is provided on the left and right above the second antenna bracket 72 attached in this way. It is attached to the mounting seat 72a of the roll bar 37 and is provided behind the horizontal portion 37b of the roll bar 37. Here, the RTK-GNSS receiver 39 includes a long mounting frame 79 formed based on a square pipe, and the left and right mounting seats 79a fixed to the center of the mounting frame 79 are attached to the second antenna bracket 72. It is mounted on the left and right mounting seats 72a by tightening with bolts.

A cover 81 formed by fixing the first bracket 80 to substantially the center of the mounting frame 79 in the longitudinal direction, mounting the GNSS unit 53 on the bracket 80, and bending the mounting frame 79 into a U shape. Is attached to the bracket 80 to cover the upper side of the GNSS unit 53. Further, a wireless antenna 57 that captures radio waves emitted from the RTK fixed station 40 is attached to the upper surface of the cover 81. Then, the second and third brackets 82 and 83 are fixed to both ends of the mounting frame 79 in the longitudinal direction, and the two GNSS antennas 43 that capture the radio waves emitted from the GNSS satellite are attached to the second and third brackets 82 and 83. , 44 are attached respectively.

Then, when each device of the RTK-GNSS receiver 39 is attached to the roll bar 37 via the first antenna bracket 71 and the second antenna bracket 72, or the attachment frame 79 as described above, particularly two GNSS antennas 43 are attached. , 44 and the inertial measurement unit 49 can be correctly mounted, for example, at preset reference positions with respect to the left and right centers of the rear axle 11. Therefore, the position detection accuracy can be improved by eliminating the positioning detection error of the airframe based on the mounting error of the GNSS antennas 43 and 44 and the inertial measurement unit 49 with respect to the airframe.

Next, the installation method of the tablet terminal 41, which is a feature of the present invention, will be described with reference to FIGS. 15 to 18. In the tablet terminal 41, the operator looks at the front of the tractor 1 and the display screen of the tablet terminal 41 substantially at the same time. For example, when the steering wheel 10 is manually operated to turn to the start position of the automatic steering control that follows the work target path, it is necessary to fix the steering wheel 10 at a position that is easy to see without placing it at hand. Further, even if the tablet terminal 41 is installed in the control unit of the tractor 1, it is desirable that the installation cost is not significantly increased without modifying the control unit.

Therefore, the tablet terminal 41 can be easily installed on the control portion of the tractor 1 by the bracket 84, the holder 85, and the connecting metal fitting 86 provided as a kit, and the base of the bracket 84 has sufficient strength. The tablet terminal 41 is attached to the support frame 21 to which the panel cover 25 is attached, and the tablet terminal 41 is attached to the holder 85 to be attached to the tip of the bracket 84. More specifically, the bracket 84 is provided with two bolt through holes in the base portion 84a below the main body formed by bending the plate like a quadrant arc. Further, four bolt through holes for attaching the holder 85 are provided in the tip portion 84b above the main body, and one bolt through hole is provided in the intermediate portion 84c.

Then, as shown in FIG. 17, the two bolts that attach the base portion 36a of the stay 36 of the rearview mirror 35 to the mounting seat 21a provided near the upper part of the support frame 21 are removed, and the base portion 84a of the bracket 84 is attached to the base portion 36a of the stay 36. The two removed bolts are passed through the bolt through holes, and the base portion 84a of the bracket 84 is fastened together with the base portion 36a of the stay 36 to the mounting seat 21a provided near the upper part of the support frame 21 for mounting.

Further, a bolt prepared separately is passed through a bolt through hole provided in the intermediate portion 84c of the bracket 84 and a bolt through hole provided in one end 86a of the connecting metal fitting 86, and one end 86a of the connecting metal fitting 86 is fixed to the intermediate portion 84c of the bracket 84 by a nut. Further, the bolt that attaches the panel cover 25 to the mounting seat 21b of the support frame 21 is removed, the other end 86b of the connecting metal fitting 86 is overlapped with the panel cover 25 from above, and the removed bolt is provided on the other end 86b of the connecting metal fitting 86. The other end 86b of the connecting metal fitting 86 is fastened together with the panel cover 25 to the mounting seat 21b of the support frame 21 through the bolt through holes for mounting.

Then, the base portion 85a of the holder 85 is attached to the tip portion 84b of the bracket 84 using bolts and nuts. Further, the holder 85 attached to the tip end portion 84b of the bracket 84 attaches a mounting base from the base portion 85a via two ball joints 85b and 85c, and the mounting base has a movable frame portion with respect to the fixed frame portion 85d. The 85e is slidably attached, and the movable frame portion 85e is urged so as to approach the fixed frame portion 85d side by a spring.

Therefore, when the movable frame portion 85e is pushed apart from the fixed frame portion 85d against the urging force of the spring and the tablet terminal 41 is sandwiched from the left and right by the fixed frame portion 85d and the movable frame portion 85e, the tablet terminal 41 Can be detachably attached to the mounting table. Further, when the holding force of the ball joints 85b and 85c is loosened by the knob bolt 85f and the mounting table is tilted up and down and left and right together with the tablet terminal 41, the inclination can be adjusted left and right and up and down within the movable range of the two ball joints 85b and 85c. If the knob bolt 85f is tightened after adjusting the inclination, the inclination of the tablet terminal 41 can be maintained as it is.

The rearview mirrors 35 are provided on the right side and the left side of the panel cover 25, respectively, and the support frame 21 for mounting the panel cover 25 is provided with mounting seats 21a provided near the upper part at symmetrical positions. Therefore, the right side surface or the left side surface of the base portion 84a of the bracket 84 is superposed on the base portions 36a of the left and right stays 36, and the base portion 84a of the bracket 84 is fastened together with the base portion 36a of the stay 36 to the mounting seat 21a of the support frame 21. As a result, the tablet terminal 41 can be attached to either side of the panel cover 25 using the same bracket 84 on the right side and the left side.

The method of installing the tablet terminal 41 on the control unit has been described above. However, the navigation system software is installed on the tablet terminal 41, and this navigation system is displayed on the display of the bullet terminal 41 with a guidance screen, a setting screen, and a document. It has a screen. Then, as shown in FIG. 19, the guidance screen displays the reception status of the satellite, the compass for displaying the direction, the route error 87b, the working distance and area, the reception satellite status, etc., together with the mark 87a indicating the position of the own vehicle. , A point generation button 87c for route generation, B point generation button 87d, a reset button for resetting the route with the current position as a reference position, a route correction button, a followability button, and the like.

Further, the switches corresponding to the above-mentioned A point generation button 87c, B point generation button 87d, the reset button for resetting the route with the current position as the reference position, the followability button, and the like are among the operation switch group 61 of the steering unit 42. In preparation for this, these functions can be performed on either the tablet terminal 41 side or the steering unit 42 side. However, although an automatic steering switch for starting or stopping automatic steering is provided in the operation switch group 61 of the steering unit 42, the button corresponding to the switch does not actually function even if it is displayed on the guidance screen.

On the other hand, on the navigation software setting screen, the connection with the GNSS unit 53 of the short-range radio 50, the GNSS antennas 43 and 44 positions, the mounting position and orientation of the inertial measurement unit 49, the automatic steering parameters, the initial settings, and the route creation interval. And settings such as direct designation or cancellation of the reference direction can be made, and these settings can be made collectively when the support system is introduced. In addition, by switching to the document screen, it is possible to display the routes and work histories generated in the past, which will be used as reference information in the future.

Therefore, the screen most frequently used in the field is the guidance screen, and the operator displays this guidance screen, and from the display of the LED lamp group 62 of the steering unit 42, the navigation software, the GNSS unit 45, and the steering unit. After confirming that the 42 is correctly connected and the automatic steering route can be set, the operator then manually steers the tractor 1 to perform the teaching run.

Then, in this case, the GNSS controller 51 obtains the current position information, the orientation information, and the like of the tractor 1 in real time, and constantly transmits this information to the navigation software. Further, in the teaching run, when the operator reaches the points A which are the start points and the points B which are the end points of the reference line and the operator operates the buttons 87c, 87d or the switch, the navigation software is in the positions of the points A and B. Obtain the information and the direction information of the reference line, and calculate the work target route from the next time onward.

Further, the navigation software displays the mark 87a indicating the position of the own vehicle on the guidance screen in the center, and displays the position deviation 87b, the orientation deviation, and the like from the work target route 87e and the work target route of the tractor 1. Then, when the tractor 1 is turned by manual steering toward the start position of the work target route to be the next stroke after finishing the teaching run, the operator confirms the deviation of the vehicle position 87a with respect to the work target route 87e to be the next stroke. Steering is performed while steering, and if the work target path 87e is correctly reached, the automatic steering switch is turned on.

Then, when the automatic steering switch is turned on, the navigation software controls the steering amount of the front wheels 8 for eliminating the position deviation and the orientation deviation of the tractor 1, for example, Model Predictive Control (MPC). It is calculated by using it, and the calculated steering amount is transmitted to the steering ECU 60 via the GNSS controller 51.

Therefore, the steering ECU 60 rotates the stepping motor 63 in the forward and reverse directions while counting the number of output pulses so that the steering amount of the front wheels 8 becomes the instructed steering amount, and the stepping motor 63 is a gear reduction mechanism provided in the transmission unit 64. The joint shaft 65 is rotated via 66, the steering shaft is rotated with the rotation of the joint shaft 65, and the front wheels 8 are finally steered via the all-hydraulic power steering unit.

Then, when the tractor 1 reaches the end of one stroke of the work target route under the automatic straight-ahead control, the operator turns off the automatic steering switch to end the straight-ahead automatic steering control, and the tractor to move to the next stroke. Turn 1 by manual steering while looking at the guidance screen as described above. After that, the work run will be completed by repeating automatic steering and manual operation.

The navigation system using the tablet terminal 41, the tablet terminal 41, etc. has been described above. To summarize the effects, the tractor 1 first has the steering wheel 10, the meter 22, and the switches 24 in front of the driver's seat 17. A panel cover 25 is provided. Further, a positioning means for acquiring the current position of the machine composed of the RTK-GNSS receiving device 39, a calculation means for calculating the amount of deviation of the machine from the work target route composed of the navigation software, and a work with the current position 87a of the machine. A navigation system including a tablet terminal 41 that displays the target path 87e and a steering unit (automatic steering device) 42 that steers the machine so as to follow the work target path 87e are retrofitted.

Further, the base portion 84a of the bracket 84 is attached to the support frame 21 to which the panel cover 25 is attached, and the tablet terminal 41 is detachably provided on the tip portion 84b of the bracket 84 via the holder 85 to sit on the driver's seat 17. The tablet terminal 41 is provided between the panel cover 25 and the rearview mirror 35, for example, and kept low so as not to be too high above the meter 22 so as not to obstruct the operator's operation of the steering wheel 10 and the front view.

Therefore, the navigation system and the automatic steering device 42 are provided on the tractor 1, and the tractor 1 can be driven while observing the current position 87a of the tractor 1 and the work target route 87e, etc., so that the tractor 1 can perform highly accurate work without waste. At the same time, the tractor 1 can be automatically steered according to the work target path 87e, so that the operator is freed from the steering operation and can reduce fatigue even during long hours of work, and even an inexperienced operator can do so. It is possible to carry out work running on par with a skilled person.

Further, the tablet terminal 41 that displays the current position 87a of the machine body and the work target path 87e is attached to the support frame 21 to which the panel cover 25 is attached with the base portion 84a of the bracket 84, and the tip portion 84b of the bracket 84 is attached via the holder 85. Since it is detachably provided, the tablet terminal 41 is firmly attached to the support frame 21 via the bracket 84 by using the support frame 21 which originally has strength for attaching the panel cover 25 including the meter 22 and the switches 24. Can be installed.

Moreover, since the tablet terminal 41 attached to the support frame 21 via the bracket 84 and the holder 85 is provided so as not to obstruct the operation of the steering wheel 10 and the forward view of the operator seated in the driver's seat 17, the operator can operate the machine. While viewing the front and the display screens of the tablet terminal 41 substantially at the same time, for example, the steering wheel 10 can be manually operated to accurately turn the tractor 1 to the start position of the automatic steering control following the work target path 87e. Therefore, it is possible to smoothly shift to the automatic steering control without causing a problem that the tractor 1 meanders due to the deviation at the start of the automatic steering control as in the case of relying only on the visual inspection in front of the machine body.

Further, a mounting seat 21a for mounting the stay 36 of the rearview mirror 35 is provided on the support frame 21 for mounting the panel cover 25, and the stay 36 of the rearview mirror 35 and the base portion 84a of the bracket 84 of the tablet terminal 41 are jointly bolted to the mounting seat 21a. Since the tablet terminal 41 is fastened and mounted, the bracket 84 for mounting the tablet terminal 41 can be mounted together with the stay 36 of the rearview mirror 35 by using the mounting seat 21a of the support frame 21 for mounting the stay 36 of the rearview mirror 35. For example, the bracket 84 is mounted. Therefore, it is not necessary to newly provide a mounting seat on the support frame 21, and the tablet terminal 41 can be easily retrofitted to the existing tractor 1.

Further, the support frame 21 for mounting the panel cover 25 is provided with left and right mounting seats 21a for mounting the stays 36 of the left and right rearview mirrors 35, respectively, and the bracket 84 of the tablet terminal 41 is selected for the left and right mounting seats 21a. Since the tablet terminal 41 can be provided on the right side or the left side of the panel cover 25, the upper side of the meter 22 located in the center of the left and right sides of the panel cover 25 is particularly provided. After securing the visibility in front of the aircraft, the tablet terminal 41 can be provided on the side opposite to the side where the visibility is desired to be further widened to widen the visibility in front of the aircraft on the side where the visibility is desired.

Moreover, the bracket 84 has a symmetrical shape, and the tablet terminal 41 is provided at a symmetrical position on the right side or the left side of the panel cover 25 regardless of whether the base portion 84a is attached to the left or right mounting seat 21a of the support frame 21. Therefore, it is not necessary to prepare the right or left bracket 84, and the bracket 84 can be provided at low cost by reducing the management cost of parts and the like.

Then, when the other end 86b of the connecting metal fitting 86 that fixes one end 86a to the intermediate portion 84c of the bracket 84 is attached to the support frame 21 to which the panel cover 25 is attached by tightening the panel cover 25 together with a bolt, vibration during traveling and the like are generated. In some cases, the tablet terminal 41 shakes greatly and is difficult to see, but the shake of the tablet terminal 41 can be eliminated by attaching the intermediate portion 84c of the bracket 84 to the support frame 21 via the connecting metal fitting 86. Further, in this case as well, since the other end 86b of the connecting metal fitting 86 is fastened together with the panel cover 25 with bolts, it is not necessary to newly provide a mounting seat 21b on the support frame 21, and the tablet terminal 41 can be easily installed. It can be retrofitted to the tractor 1 of.

Next, the main changes of the tractor 88 according to the second embodiment, which has a lower horsepower and is smaller than the tractor 1 according to the first embodiment described above, will be described. First, as shown in FIGS. 20 and 21, the length of the horizontal portion 37b of the roll bar 37 is short, and when the hood 77 is attached to the horizontal portion 37b, the first antenna bracket 71 of the first embodiment is attached. The RTK-GNSS receiver 39 cannot be retrofitted because there is no space for mounting.

Therefore, the tractor 88 of the second embodiment uses the left and right leg portions 37 of the roll bar 37, and uses the left and right third antenna brackets 89 to hold and attach the leg portions 37c, and also uses the third antenna bracket 89. The mounting seat 79a of the mounting frame 79 is mounted on the mounting seat 89a provided at the upper rear side of the antenna bracket 89 and fastened with bolts, whereby the RTK-GNSS receiver 39 is used with the second antenna bracket 72. Install directly without any. Therefore, the third antenna bracket 89 has a base portion 89b similar to the holding structure of the first antenna bracket 71 to be attached to the leg portion 37c of the roll bar 37, an arm portion 89c formed by bending a pipe, a reinforcing plate 89d, and a mounting seat 89a. Are welded together to form one.

A label 90 on which precautions for handling each part are written is affixed to the leg portion 37c of the roll bar 37 of the tractor 88 according to the second embodiment, and the base portion 89b of the third antenna bracket 89 is attached. And the label 90 may be hidden and invisible. Therefore, the base portion 89b of the third antenna bracket 89 is partially cut out (89e) so that the label 90 can be seen. Further, a label plate 91 is added to the base portion 89b of the third antenna bracket 89, and the label 92 is replaced on this plate 91.

Further, as shown in FIGS. 22 and 23, the left and right lower end portions 37a of the roll bar 37 of the tractor 88 according to the second embodiment are attached to the left and right holders 93 provided at the rear portion of the driver's seat 17 by means of fulcrum bolts 94 and fixing pins 95. It can be installed so that it can be switched between an approximately upright posture, a backward lying posture, and an oblique posture in between. However, unlike the tractor 1 according to the first embodiment, the push bolt 70 for preventing the roll bar 37 from rattling due to the gap between the pins and the pin holes is not provided, so that the roll bar 37 may swing back and forth. is there.

Therefore, in the roll bar 37 of the second embodiment, a vibration damping metal fitting 96 instead of the push bolt 70 is provided at the left and right lower end portions 37a thereof. That is, the anti-vibration metal fitting 96 utilizes the hole a originally provided in the lower end portion 37a, and a pin 97 is inserted into the hole a to rotatably attach the intermediate portion of the anti-vibration metal fitting 96 to the lower end portion 37a. Further, a bolt with a knob 98 is attached to the lower end of the anti-vibration metal fitting 96, and the tip of the bolt 98 with a knob is brought into contact with the base of the holder 93 to tighten it. Then, the tip 96a of the anti-vibration metal fitting 96 pushes the roll bar 37 forward to eliminate the rattling of the roll bar 37 and to prevent the roll bar 37 from rattling in the front-rear direction.

Further, the tractor 88 of the second embodiment is erected by attaching the base portion of the support frame 21 to which the panel cover 25 is attached to the tip portion that bends upward toward the floor 16. Then, as shown in FIGS. 24 to 26, the rearview mirror 99 to be attached to the support frame 21 is provided as a standard near the upper right side of the support frame 21, but as an option, the large rearview mirror 35 of the first embodiment is provided. The ones provided on the right side and the left side of the panel cover 25 are prepared respectively. Further, in this case, the left and right rearview mirrors 35 provided as options are provided at positions separated from the right side and the left side of the panel cover 25, but the standard right rearview mirror 99 is provided at a position close to the right side of the panel cover 25.

Therefore, when the bracket 84 of the tablet terminal 41 shown in the first embodiment is fastened together with the right rearview mirror 99 to the support frame 21 to which the standard right rearview mirror 99 is attached, the tablet terminal 41 is attached to the standard right rearview mirror. Partially overlaps with the mirror 99 in the front-rear direction, which deteriorates the visibility of the right rear-view mirror 99. Therefore, the bracket 100 of the tablet terminal 41 is composed of a lower bracket 101 for attaching the support frame 21 to which the panel cover 25 is attached and an upper bracket 102 for attaching the holder 85 to the tip, and the upper bracket 102 is attached to the lower bracket 101 so as to be movable up and down. ..

Therefore, when the standard right rear-view mirror 99 is provided, the upper bracket 102 is moved upward so that the tablet terminal 41 is raised so as not to overlap with the right rear-view mirror 99. When the optional right rear-view mirror 35 is provided, the upper bracket 102 is moved downward to lower the tablet terminal 41 so as not to obstruct the front view on the side thereof. Specifically, the lower bracket 101 formed of the plate of the tablet terminal 41 includes a mounting seat b of the right rearview mirror 99 provided near the upper right side of the support frame 21 and an optional right rearview mirror 35 provided near the lower right side. The right rear-view mirror 99 and the stay 36 of the right rear-view mirror 35 are fastened together and attached to the mounting seat c of the stay 36.

Further, the lower bracket 101 is provided with a mounting seat 101a having a U-shaped cross section in the vertical direction on its side surface, and the upper bracket 102 is formed in a U-shaped cross section so as to fit the mounting seat 101a from the outside. Further, the upper bracket 102 is provided with two elongated holes 102a along the longitudinal direction thereof, and bolts 103 with knobs are passed through the elongated holes 102a and screwed into the screw holes provided in the mounting seat 101a of the lower bracket 101 to be screwed into the lower bracket. The upper bracket 102 is provided so as to be movable up and down within the range of the elongated hole 102a and to be fastened and fixed at an arbitrary position with respect to 101. A mounting seat 102b is provided at the tip of the upper bracket 102, and the tablet terminal 41 is still provided on the mounting seat 102b via the holder 85.

Therefore, to summarize the effects and effects related to the structure for providing the tablet terminal 41 described above, the lower bracket 101 for attaching the bracket 100 of the tablet terminal 41 to the support frame 21 for attaching the panel cover 25 and the holder 85 are attached to the tip portion 102b. Since it is composed of a bracket 102 and the upper bracket 102 is attached to the lower bracket 101 so as to be movable up and down, the height provided by the tablet terminal 41 can be changed, and the support frame 21 has a normal rearview mirror 99 and a larger one. The height of the rearview mirrors 99 and 35 can be changed so that the tablet terminal 41 does not interfere with the visibility of the rearview mirrors 99 and 35 when the rearview mirrors 35 are replaced and attached.

In the first and second embodiments described above, the tablet terminal 41 does not obstruct the visibility of the meter 22 located at the center of the left and right sides of the panel cover 25, and the upper side of the meter 22 is left open. It is provided on the right side or left side so as to secure the visibility in front of the aircraft, but the traveling speed, engine speed, water temperature, fuel, warning lamp, etc. provided on the meter 22 are additionally displayed on the guidance screen of the tablet terminal 41. Then, since the tablet terminal 41 can be used instead of the meter 22, the holder 85 may be adjusted and provided so that the tablet terminal 41 overlaps the front surface of the meter 22, and the present invention is not necessarily limited to the embodiment. It's not something.

1 Tractor (working vehicle)
10 Steering wheel 17 Driver's seat 21 Support frame 22 Meter 25 Panel cover 35 Rearview mirror 36 Stay 39 RTK-GNSS receiver (positioning means)
42 Steering unit (automatic steering device)
44 Tablet terminal (calculation means, display means)
84 Bracket 85 Holder 86 Connecting Bracket 101 Lower Bracket 102 Upper Bracket

Claims (5)

A panel cover equipped with a steering wheel and meters and switches is provided in front of the driver's seat, positioning means for acquiring the current position of the aircraft, calculation means for calculating the amount of deviation of the aircraft from the work target route, and the current state of the aircraft. In a work vehicle provided with a navigation system consisting of a tablet terminal that displays a position and a work target route and an automatic steering device that steers the aircraft so as to follow the work target route, a bracket base is attached to a support frame to which the panel cover is attached. The tablet terminal is detachably provided at the tip of the bracket via a holder, and the tablet terminal is provided so as not to obstruct the steering wheel operation and forward visibility of the operator seated in the driver's seat. Work vehicle. Claim 1 is characterized in that a mounting seat for mounting a rear-view mirror stay is provided on a support frame for mounting the panel cover, and the rear-view mirror stay and the base of the bracket of the tablet terminal are fastened together with a bolt to the mounting seat. The work vehicle described in. The support frame for mounting the panel cover is provided with left and right mounting seats for mounting the left and right rearview mirror stays, respectively, and the bracket of the tablet terminal is formed so that it can be selectively mounted on the left and right mounting seats. The work vehicle according to claim 2, wherein the tablet terminal can be provided on the right side or the left side of the panel cover. The work according to claim 2 or 3, wherein the other end of the connecting metal fitting for fixing one end to the intermediate portion of the bracket is attached to the support frame to which the panel cover is attached by tightening the other end together with the panel cover with bolts. vehicle. Claim 1 is characterized in that the bracket of the tablet terminal is composed of a lower bracket for attaching to a support frame to which a panel cover is attached and an upper bracket for attaching a holder to a tip portion, and the upper bracket is attached to the lower bracket so as to be movable up and down. The work vehicle according to any one of claims 3.

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