Patent Description:
Conventionally, the working vehicle disclosed in <CIT> has been known. The working vehicle disclosed in <CIT> has a positioning device which detects a position of a vehicle body based on a signal transmitted from a positioning satellite and a controller capable of acquiring detection information of the positioning device. The controller performs automatic steering control of automatically controlling steering of the vehicle body based on the detection information of the positioning device.

Meanwhile, when the positioning device can be shifted to a first position, which is a position for use, and a second position, which is a position lower than the first position, if automatic steering control is performed with the positioning device forgotten to be moved to the first position and kept in the second position, a problem arises in which automatic steering control cannot be performed with high accuracy.

The document <CIT> discloses a work vehicle with a cabin, a support frame disposed along a width direction at an upper position outside the cabin is fixed to brackets extending upward from left and right sides of a cabin frame, and an antenna unit in which an inertial measurement device, a GNSS antenna, and a wireless communication device are assembled is mounted to the support frame in a state where the inertial measurement device and the GNSS antenna are mounted in a state of being disposed substantially at a center position in a lateral width direction of an airframe.

In the document <CIT>, a detection method for GPS antenna malicious shielding is described. The detection method comprises the steps that firstly, whether GPS positioning is effective or not is detected, if GPS positioning is invalid, the suspicion that a GPS antenna is shielded and cannot be positioned exists, and whether the GPS positioning invalid phenomenon is caused by signal shielding or not is judged through the SNR algorithm; if the calculation result is true, it is determined that the GPS antenna is shielded maliciously, and then the second step is executed to conduct malicious shielding detection; secondly, an invisible light emitter and an invisible light receiver are arranged inside an GPS antenna receiving head, the invisible light emitter is responsible for emitting outwards signals of invisible light with the designated wavelength, the invisible light receiver is responsible for receiving the signals of the invisible light, whether shielding objects exist outside the GPS antenna or not is judged by detecting whether the receiver receives the signals of the invisible light with the designated wavelength or not, and if the receiver receives the signals of the invisible light with the designated wavelength sent by the emitter, it is indicated that the GPS antenna is shielded maliciously.

In view of the above-described problem, an object of the present invention is to prevent automatic steering control from being performed with the positioning device being in the second position.

To solve the problem, a working vehicle of claim <NUM> is provided. Embodiments are the subject matter of dependent claims in the appended set of claims.

Also, the support bracket may comprise a base stay made of a plate having a plate surface, the base stay being attached to the vehicle body side so as to face the plate surface up or down, and the mounting stay, when the positioning device is in the first position, is placed on the base stay and is pivotally supported at a front portion thereof by the base stay via the pivotal shaft so as to be rotatable around an axis of the pivotal shaft extending in a vehicle width direction.

Also, the mounting stay may comprise a main plate portion attached to the positioning device, a first extending plate portion extending in one lateral direction from the main plate portion, and a second extending plate portion extending in another lateral direction opposite to the one lateral direction from the main plate portion.

Also, the positioning device may comprise a detection sensor configured to detect that the positioning device is in the second position.

Also, a display may be configured to indicate that the detection sensor has detected the second position.

Also, the working vehicle may further comprise a cabin mounted on the vehicle body and provided with a roof at an upper portion thereof, and a first bar and a second bar each of which extends along the vehicle width direction above the roof and which are juxtaposed forward and rearward, wherein the base stay is fixed to the first bar and the second bar.

According to the above-described working vehicle, it is possible to prevent automatic steering control from being performed with the positioning device being in the second position.

In the following, one embodiment of the present invention is described with reference to the drawings as appropriate.

<FIG> is a schematic side view depicting an entire structure of a working vehicle <NUM> according to one embodiment of the present invention. <FIG> is a schematic plan view of the working vehicle <NUM>. In the present embodiment, a tractor is exemplarily described as the working vehicle <NUM>. However, the working vehicle <NUM> is not limited to a tractor but may be agricultural machine (agricultural vehicle) such as a combine or transplanter or may be construction machine (construction vehicle) or the like such as a loader working machine.

In the present embodiment, description is made by taking an arrow A1 direction (forward traveling direction of the tractor <NUM>) in <FIG> and <FIG> as forward, an arrow A2 direction (rearward traveling direction of the tractor <NUM>) in <FIG> and <FIG> as rearward, and an arrow A3 direction in <FIG> and <FIG> as a fore-and-aft direction. Therefore, a front surface side of <FIG> is leftward (arrow B1 direction in <FIG>), and a back surface side of <FIG> (arrow B2 direction in <FIG>) is rightward. Also, description is made by taking a horizontal direction orthogonal to the fore-and-aft direction A3 as a vehicle width direction (arrow B3 direction in <FIG>), which is a width direction of a tractor <NUM> (working vehicle). Description is made by taking a direction from a central portion to a right portion of the tractor <NUM> in the vehicle width direction B3 or a direction to a left portion thereof as outward in the vehicle width direction. In other words, outward in the vehicle width direction is the vehicle width direction B3 away from the center of the tractor <NUM> in the width direction. Description is made by taking a direction opposite to outward in the vehicle width direction as inward in the vehicle width direction. In other words, inward in the vehicle width direction is the vehicle width direction B3 approaching the center of the tractor <NUM> in the width direction.

As depicted in <FIG>, the tractor <NUM> has a vehicle body <NUM>. The vehicle body <NUM> has a prime mover <NUM> and a power transmission case <NUM>. The prime mover <NUM> is a diesel engine. The prime mover <NUM> may be a gasoline engine or electric motor, or may be of a hybrid type having an engine and an electric motor. The prime mover <NUM> is disposed at a front portion of the tractor <NUM> and covered with a bonnet <NUM>.

The power transmission case <NUM> comprises a plurality of cases 7A to 7D sequentially coupled to each other in the fore-and-aft direction A3. The foremost case 7A is coupled to a rear portion of the prime mover <NUM>. Provided inside the power transmission case <NUM> are a traveling-system power transmission mechanism which transmits power of the prime mover E1 to a traveling device <NUM> and a working-system power transmission mechanism which transmits power of the prime mover E1 to a power takeoff shaft (PTO shaft) <NUM>.

As depicted in <FIG> and <FIG>, the vehicle body <NUM> is capable of traveling. In detail, the vehicle body <NUM> is supported by, for example, a wheel-type traveling device <NUM> including a plurality of wheels so as to be able to travel. The plurality of wheels include paired front wheels <NUM> (<NUM>, 2R) provided leftward and rightward of a front portion of the vehicle body <NUM> and paired rear wheels <NUM> (<NUM>, 3R) provided leftward and rightward of a rear portion of the vehicle body <NUM>.

As depicted in <FIG>, the tractor <NUM> has a cabin <NUM>. The cabin <NUM> is mounted on a rear portion of the vehicle body <NUM>. In a rear portion of the interior of the cabin <NUM>, an operator's seat <NUM> where an operator (operator) sits is provided. A steering wheel <NUM> for steering the front wheels <NUM> (<NUM>, 2R) is provided forward of the operator's seat <NUM>. A brake pedal (brake operation tool) <NUM> for braking the traveling device <NUM> is provided downward and rightward of the steering wheel <NUM>. A front surface of the cabin <NUM> is provided with a front glass. A back surface of the cabin <NUM> is provided with a rear glass. On each of side surfaces (left side surface and right side surface) of the cabin <NUM>, an entrance <NUM> through which the operator gets on and off the cabin <NUM> and an entrance door <NUM> covers the entrance <NUM> to open and close the entrance <NUM>. A rear side glass <NUM> is provided rearward of the entrance door <NUM>. Also, the cabin <NUM> is provided at an upper portion thereof with a roof <NUM> forming a ceiling portion of the cabin <NUM>.

Here, with reference to <FIG>, description is made on a schematic structure of a traveling system and a schematic structure of a control system of the tractor <NUM>.

As depicted in <FIG>, the tractor <NUM> comprises a steering device <NUM>. The steering device <NUM> is a device capable of manual steering of steering the vehicle body <NUM> with operation by the operator and automatic steering of automatically steering the vehicle body <NUM> without operation by the operator. The steering device <NUM> has the steering wheel <NUM> and a rotation shaft <NUM> (steering shaft) which rotates with rotation of the steering wheel <NUM>. Also, the steering device <NUM> has an assist mechanism (power steering mechanism) <NUM> which assists steering of the steering wheel <NUM>. In detail, the assist mechanism <NUM> comprises a hydraulic pump <NUM>, a control valve <NUM> to which a hydraulic fluid delivered from the hydraulic pump <NUM> is supplied, and a steering cylinder <NUM> which becomes actuated by the control valve <NUM>. The control valve <NUM> is a three-position changeover valve that is switchable with the movement of a spool or the like, and is switched in accordance with the steering direction (rotating direction) of the rotation shaft <NUM>. Also, the control valve <NUM> is also a solenoid valve which becomes actuated based on a control signal. The steering cylinder <NUM> is connected to an arm (knuckle arm) <NUM> for changing the orientation of the front wheels <NUM>.

When the operator holds and operates the steering wheel <NUM> in one direction or another direction, the switching position and the degree of opening of the control valve <NUM> are switched in accordance with the rotating direction of the steering wheel <NUM> and, a piston rod of the steering cylinder <NUM> moves to left or right in accordance with the switching position and the degree of opening of the control valve <NUM>. This can change the turning direction (steering direction) of the front wheels <NUM>. That is, the vehicle body <NUM> can change the forwarding direction to left or right by manual steering operation of the steering wheel <NUM>. Note that the above-described steering device <NUM> is one example and is not limited to have the above-described structure.

As depicted in <FIG>, the tractor <NUM> comprises a controller <NUM>. The controller <NUM> comprises a microprocessor having a CPU (Central Processing Unit), an EEPROM (Electrically Erasable Programmable Read-Only Memory), and so forth.

The controller <NUM> performs various controls for the tractor <NUM>. To the controller <NUM>, a state detection device <NUM> which detects a driving state and so forth of the tractor <NUM> is connected. The state detection device <NUM> is, for example, a device which detects a state of the traveling system, and detects states of, for example, a crank sensor, a cam sensor, an engine rotation sensor, an accelerator sensor, a vehicle-speed sensor, a steering-angle sensor, and a later-discussed positioning device <NUM>. The state detection device <NUM> may be a sensor for detecting a state of another than the traveling system, for example, it may be a lifting lever detection sensor or a PTO rotation detection sensor. The controller <NUM> performs control of the traveling system and control of the working system in the tractor <NUM>. The controller <NUM> controls, for example, the number of revolutions of the prime mover <NUM> (engine), the steering angle of the steering device <NUM>, and so forth based on the detection state detected by the state detection device <NUM>. Also, the state detection device <NUM> performs control of lifting with the lifting device which lifts the working machine attached to the tractor <NUM>, the number of PTO rotations, and so forth based on the detection state detected by the state detection device <NUM>.

Connected to the controller <NUM> is the positioning device <NUM> which detects the position of the vehicle body <NUM> (tractor <NUM>) based on a signal (satellite signal) transmitted from a positioning satellite. The controller <NUM> is capable of acquire detection information (position) detected by the positioning device <NUM>. The positioning device is a device which detects its own position (positioning information including a latitude and a longitude) by the satellite positioning system (positioning satellite). That is, the positioning device <NUM> receives a satellite signal (a position of the positioning satellite, a transmission time, correction information, and so forth), which is a signal transmitted from the positioning satellite, and detects the position (for example, latitude and longitude) based on the satellite signal.

Also, the positioning device <NUM> finds the position and azimuth of the vehicle body <NUM> by using a known GPS (Global Positioning System), which is one example of a global navigation satellite system (GNSS). Note that positioning device <NUM> may be a satellite positioning system such as GLONASS, HOKUTO, GALILEO, or MICHIBIKI.

As depicted in <FIG>, the positioning device <NUM> has, for example, a receiver <NUM> and a wireless transceiver <NUM>.

The receiver <NUM> has an antenna and so forth, and receives a satellite signal transmitted from a positioning satellite.

The wireless transceiver <NUM> has an antenna and so forth, and communicates with a base station (reference station) installed at a known position. The base station transmits positioning data (correction information) acquired by receiving electric waves from the positioning satellite to the positioning device <NUM>. The positioning device <NUM> receives electric waves transmitted from the positioning satellite and positioning data transmitted from the base station, and detects its own position (latitude and longitude) based on positioning data acquired by receiving the electric waves from the positioning satellite and the positioning data from the base station.

Note that the positioning device <NUM> may not necessarily include the wireless transceiver <NUM>. Also, the positioning device <NUM> may not include an inertial measurement unit <NUM>, which will be described further below.

The controller <NUM> performs automatic steering control of automatically controlling steering of the vehicle body <NUM> based on the detection information detected by the positioning device <NUM>.

When automatic steering control is performed, a traveling reference line is first set and, after the traveling reference line is set, a planned traveling line parallel to the traveling reference line is set, thereby allowing automatic steering control to be performed.

In automatic steering control, steering of the tractor <NUM> (vehicle body <NUM>) in the forwarding direction is automatically performed so that the vehicle-body position measured by the positioning device <NUM> and the planned traveling line. Specifically, before automatic steering control is performed, the tractor <NUM> (vehicle body <NUM>) is moved to a predetermined position in an agricultural field, and when the operator performs operation on a steering changeover switch (registration switch) provided to the tractor <NUM> at the predetermined position, the vehicle-body position measured by the positioning device <NUM> is set as a start point of the traveling reference line. Also, the tractor <NUM> (vehicle body <NUM>) is moved from the start point of the traveling reference line and, when the operator performs operation on the steering changeover switch at a predetermined position, the vehicle-body position measured by the positioning device <NUM> is set as an end point of the traveling reference line. A straight line connecting the start point and the end point is set as a traveling reference line.

After the traveling reference line is set, for example, when the tractor <NUM> (vehicle body <NUM>) is moved to a location different from the location where the traveling reference line is set and the operator performs operation on the steering changeover switch, a planned traveling line, which is a straight line parallel to the traveling reference line, is set. After the planned traveling line is set, automatic steering control starts, and the forwarding direction of the tractor <NUM> (vehicle body <NUM>) is changed so as to be along the planned traveling line.

As depicted in <FIG> and <FIG>, the cabin <NUM> has front pillars <NUM> at a front portion. The front pillars <NUM> comprises a first front pillar <NUM> positioned on one side (left side) in the vehicle width direction B3 of the front portion of the cabin <NUM> and a second front pillar 36R positioned on the other side (right side) in the vehicle width direction B3 of the front portion of the cabin <NUM>. The front glass is provided between the first front pillar <NUM> and the second front pillar 36R. Upper portions of the first front pillar <NUM> and the second front pillar 36R are coupled to each other by a front upper frame <NUM>.

As depicted in <FIG> and <FIG>, the positioning device <NUM> is mounted on a support frame <NUM> provided from the upper portion of the first front pillar <NUM> over the upper portion of the second front pillar 36R. The positioning device <NUM> is configured to accommodate the receiver <NUM>, the wireless transceiver <NUM>, and so forth in a case <NUM>, and receives a satellite signal transmitted from the positioning satellite and detects a position based on the received satellite signal. A connecting portion <NUM> for connecting a connection terminal of a harness is provided rightward of the positioning device <NUM> (refer to <FIG>).

As depicted in <FIG> and <FIG>, the support frame <NUM> has a first bar <NUM> and a second bar <NUM> extending in the vehicle width direction B3, a first frame stay <NUM> provided on one end (left end) side in the vehicle width direction B3 of the first bar <NUM> and the second bar <NUM>, and a second frame stay 41R provided on the other end (right end) side in the vehicle width direction B3 of the first bar <NUM> and the second bar <NUM>. The first bar <NUM> and the second bar <NUM> are formed of, for example, a rod-shaped member such as a pipe member, and are juxtaposed in the fore-and-aft direction A3 above the roof <NUM>.

As depicted in <FIG> and <FIG>, the first bar <NUM> has a first linear bar portion 39a, a first vertical bar portion 39b, and a second vertical bar portion 39c. The first linear bar portion 39a is disposed above a front portion of the roof <NUM>. In detail, the first linear bar portion 39a extends linearly in the vehicle-width direction B3 so as to be interposed between a top of the first front pillar <NUM> and a top of the second front pillar 36R. The first vertical bar portion 39b is extended downward from a left end of the first linear bar portion 39a. The second vertical bar portion 39c is extended downward from a right end of the first linear bar portion 39a.

As depicted in <FIG> and <FIG>, the second bar <NUM> has a second linear bar portion 40a, a first tilted portion 40b, a second tilted portion 40c, a third vertical bar portion 40d, and a fourth vertical bar portion 40e. The second linear bar portion 40a is disposed above the roof <NUM> and below the first linear bar portion 39a. Also, the second linear bar portion 40a is spaced from the first linear bar portion 39a and is substantially parallel to the first linear bar portion 39a. The first slant portion 40b extends forwardly leftward slantwise from one end (left end) of the first linear bar portion 39a. A left end of the first tilted portion 40b is disposed rearward of a left end of the first linear bar portion 39a. The second slant portion 40c extends forwardly rightward slantwise from the other end (right end) of the second linear bar portion 40a. A right end of the second tilted portion 40c is disposed rearward of a right end of the first linear bar portion 39a. The third vertical bar portion 40d is extended downward from a left end of the first tilted portion 40b. The fourth vertical bar portion 40e is extended downward from a right end of the second tiled portion 40c.

As depicted in <FIG> and <FIG>, the first frame stay <NUM> and the second frame stay <NUM> R are each formed of a plate-shaped member. An upper portion of the first frame stay <NUM> is interposed between the first vertical bar portion 39b and the third vertical bar portion 40d and is fixed to the first vertical bar portion 39b and the third vertical bar portion 40d. An upper portion of the second frame stay 41R is interposed between the second vertical bar portion 39c and the fourth vertical bar portion 40e and is fixed to the second vertical bar portion 39c and the second vertical bar portion 40e.

As depicted in <FIG>, one end side of the support frame <NUM> is mounted on an upper portion of the first front pillar <NUM>, and the other end side is mounted on an upper portion of the second front pillar 36R. In detailed description, a first mounting tab <NUM> is fixed to the upper portion of the first front pillar <NUM>, and a second mounting tab 42R is fixed to the upper portion of the second front pillar 36R. The first mounting tab <NUM> and the second mounting tab 42R are each formed of a plate. The first mounting tab <NUM> protrudes leftward forward slantwise from a front portion of the first front pillar <NUM>. The second mounting tab 42R protrudes rightward forward slantwise from a front portion of the second front pillar 36R. The first frame stay <NUM> is mounted on the first mounting tab <NUM> with a bolt and a nut, and the second frame stay 41R is mounted on the second mounting tab 42R with a bolt and a nut.

As depicted in <FIG> and <FIG>, a first side mirror <NUM> is disposed leftward sideward of the upper portion of the first front pillar <NUM>, and a second side mirror 43R is disposed rightward sideward of the upper portion of the second front pillar 36R. The first side mirror <NUM> and the second side mirror 43R are mirrors for visually recognizing rearward and rearward sideward of the vehicle body <NUM>. The first side mirror <NUM> and the second side mirror 43R each have a mirror main body 43a, a bracket arm 43b for supporting the mirror main body 43a, and a mounting part 43c for supporting the bracket arm 43b rotatable about a vertical axis. The mounting part 43c of the first side mirror <NUM> is fixed to the first mounting tab <NUM>. The mounting part 43c of the second side mirror 43R is fixed to the second mounting tab 42R. Also, a radio antenna <NUM> is mounted on the second mounting tab 42R.

As depicted in <FIG>, <FIG>, and <FIG>, the support frame <NUM> has a support bracket <NUM> for supporting the positioning device <NUM>. The support bracket <NUM> is provided on substantially central portions in the vehicle width direction B3 of the first bar <NUM> and the second bar <NUM>.

As depicted in <FIG>, the support bracket <NUM> has a base stay <NUM> to be mounted on a vehicle body <NUM> side and a mounting stay <NUM> pivotally supported and coupled to the base stay <NUM>. The base stay <NUM> and the mounting stay <NUM> are each formed of a plate.

As depicted in <FIG> and <FIG>, the base stay <NUM> has a base plate portion <NUM> provided on the first bar <NUM> and the second bar <NUM> and an extending portion <NUM> extending downward from the base plate portion <NUM> and between the first bar <NUM> and the second bar <NUM>. A main body portion 48a of the base plate portion <NUM> is formed in a rectangular shape in plain view, and is fixed to the first bar <NUM> and the second bar <NUM>. A rear portion of the base plate portion <NUM> is bent downward. In detail, the base plate portion <NUM> has a wall portion 48b extending downward from a rear end of the main body portion 48a. The extending portion <NUM> comprises a first extending wall <NUM> extending downward from a midway portion in the fore-and-aft direction A3 of a left end of the base plate portion <NUM> and a second extending wall 49R extending downward from a midway portion in the fore-and-aft direction A3 of a right end of the base plate portion <NUM>. The first extending wall <NUM> and the second extending wall 49R are fixed to the first bar <NUM> and the second bar <NUM>. With the base stay <NUM> having the first extending wall <NUM> and the second extending wall 49R, the base stay <NUM> can be firmly mounted on the first bar <NUM> and the second bar <NUM>.

As depicted in <FIG>, the positioning device <NUM> is mounted on the mounting stay <NUM> with bolts. As depicted in <FIG>, the mounting stay <NUM> is pivotally supported by a front portion of the base stay <NUM> so as to be rotatable about an axis extending in the vehicle width direction B3 so that, by rotating the mounting stay <NUM>, the positioning device <NUM> is shifted between a first position X1, which is a position for use, and a second position X2, which is a position lower than the first position. That is, the support bracket <NUM> supports the positioning device <NUM> shiftable to the first position X1 and the second position X2. Also, with rotation of the mounting stay <NUM>, the positioning device <NUM> flips from the first position X1 to the second position X2 and, the positioning device <NUM>, when in the second position X2, is in a downward-facing state in which an upper surface 30a side of the positioning device <NUM> when in the first position X1 comes to face downward. Therefore, with the positioning device <NUM> shifted from the first position X1 to the second position X2 when unused, the positioning device <NUM> can be prevented from hitting an obstacle. Also, only by rotating the mounting stay <NUM>, the second position X2 can be set at a position sufficiently lower than the first position X1.

In the present embodiment, the positioning device <NUM> is tilted in a manner such that a side of the positioning device <NUM> having been disposed as the upper surface 30a comes to face downward and to tilt forwardly upward when the positioning device <NUM> is in the second position X2.

As depicted in <FIG>, the mounting stay <NUM> is disposed downward of the positioning device <NUM> when the positioning device <NUM> is in the first position X1. Therefore, a side of the positioning device <NUM> disposed as a lower surface 30b is attached to the mounting stay <NUM>. Also, the mounting stay <NUM> is placed on the base stay <NUM> (base plate portion <NUM>) when the positioning device <NUM> is in the first position X1. In this state, the mounting stay <NUM> is mounted on the base stay <NUM> with bolts <NUM> (refer to <FIG>). Note that nuts into which the bolts <NUM> are screwed are fixed to a lower surface of the base stay <NUM>.

As depicted in <FIG>, the mounting stay <NUM> has a main plate portion <NUM> on which the positioning device <NUM> is mounted, a first extending plate portion <NUM> extending in one lateral direction (leftward) from the main plate portion <NUM>, and a second extending plate portion 52R extending in the other lateral direction (rightward) from the main plate portion <NUM>.

As depicted in <FIG> and <FIG>, when the positioning device <NUM> is in the second position X2, the mounting stay <NUM> covers the positioning device <NUM> (the receiver <NUM>, the wireless transceiver <NUM>). Also, the mounting stay <NUM> is configured of a member which reflects a satellite signal. Therefore, when the positioning device <NUM> is in the second position X2, it is in the state where a satellite signal cannot be effectively received. That is, when the positioning device <NUM> is in the second position X2, automatic steering control is restrained by the mounting stay <NUM>. In other words, the mounting stay <NUM> is configured as a restraining section which restrains automatic steering control by covering over the positioning device <NUM> in the second position X2. When the positioning device <NUM> is in the second position X2, by restraining automatic steering control by the mounting stay <NUM>, it is possible to prevent working with automatic control steering from being performed.

The mounting stay <NUM> is formed of, for example, a metal plate such as an iron plate.

As depicted in <FIG>, the positioning device <NUM>, when in the first position X1, is disposed on an upward side of the roof <NUM>, and, when in the second position X2, is mostly positioned downward of an upper end of the roof <NUM> and partially in a position higher than the upper end of the roof <NUM>. In <FIG>, a one-dot-chain line indicates an extension line Y1 of an uppermost end of the roof <NUM>. In the exemplary drawing, an upper front portion of the positioning device <NUM> in the second position X2 is at a position higher than the extension line Y1.

As depicted in <FIG> and <FIG>, the support frame <NUM> has a hinge <NUM> which pivotally couples the mounting stay <NUM> to the base stay <NUM> so that the mounting stay <NUM> is rotatable about the axis extending in the vehicle width direction B3.

The hinge <NUM> has, as depicted in <FIG> and <FIG>, fixed-side hinge tabs <NUM> provided on the base stay <NUM>, movable-side hinge tabs <NUM> provided on the mounting stay <NUM>, and a pivotal shaft <NUM> pivotally coupling the movable-side hinge tabs <NUM> to the fixed-side hinge tabs <NUM>.

The fixed-side hinge tabs <NUM> include a first hinge tab <NUM> and a second hinge tab 54R. The base stay <NUM> is provided at a left front end portion thereof with a first extended portion <NUM>. The first extended portion <NUM> is formed to extend forward from the base stay <NUM> and then extend downward. The first hinge tab <NUM> extends rearward from a right portion of the first extended portion <NUM>. Also, the base stay <NUM> is provided at a right front end portion thereof with a second extended portion <NUM>. The second extended portion <NUM> is formed to extend forward from the base stay <NUM> and then extend downward. The second hinge tab 54R extends rearward from a left portion of the second extended portion <NUM>. The first hinge tab <NUM> and the second hinge tab 54R are opposed and spaced from each other in the vehicle width direction B3.

The movable-side hinge tabs <NUM> include a third hinge tab <NUM> and a fourth hinge tab 55R. The mounting stay <NUM> is provided at a central portion in the vehicle width direction B3 of the front end portion thereof with a third extended portion <NUM>. The third extended portion <NUM> is formed to be extended forward from the mounting stay <NUM> and then extended downward. The third extended portion <NUM> is disposed between the first extended portion <NUM> and the second extended portion <NUM>. The third hinge tab <NUM> is extended rearward from a left portion of the third extended portion <NUM> and is opposed to the first hinge tab <NUM>. The fourth hinge tab 55R is extended rearward from a right portion of the third extended portion <NUM> and is opposed to the second hinge tab 54R.

As depicted in <FIG>, the pivotal shaft <NUM> comprises a first pin <NUM> pivotally supporting and coupling the first hinge tab <NUM> and the third hinge tab <NUM> together and a second pin 56R pivotally supporting and coupling the first hinge tab <NUM> and the third hinge tab <NUM> together. The first pin <NUM> and the second pin 56R are disposed on the same axis Y2.

As depicted in <FIG>, the support bracket <NUM> has fixed tabs <NUM> provided on the base stay <NUM>, movable tabs <NUM> provided on the mounting stay <NUM>, and attachment screws <NUM> for mounting the movable tabs <NUM>, the attachment screws <NUM> being on the fixed tabs <NUM> (refer to <FIG>).

The fixed tabs <NUM> include a first tab <NUM> provided on a front left end portion of the base stay <NUM> and a second tab 60R provided on a front right end portion of the base stay <NUM>. The first tab <NUM> is extended rearward from a left portion of the first extended portion <NUM>. The second tab 60R is extended rearward from a right portion of the second extended portion <NUM>.

The movable tabs <NUM> include a third tab <NUM> provided on a front left end portion of the mounting stay <NUM> and a fourth tab 61R provided on a front right end portion of the mounting stay <NUM>. The third tab <NUM> extends leftward slantwise from the mounting stay <NUM> and then extends downwardly forward. The third tab <NUM> is disposed outward in the vehicle width direction of the first tab <NUM>. The fourth tab 61R extends leftward slantwise from the mounting stay <NUM> and then extends downwardly forward. The fourth tab 61R is disposed outward in the vehicle width direction of the second tab 60R.

As depicted in <FIG>, the attachment screws <NUM> include a first screw <NUM> which fixes the third tab <NUM> to the first tab <NUM> and a second screw 62R which fixes the fourth tab 61R to the second tab 60R. The attachment screws <NUM> (first screw <NUM>, second screw 62R) are provided on the axis Y2 substantially coaxial to the pivotal shaft <NUM>. With this, only loosening the attachment screws <NUM> can rotate the mounting stay <NUM>. In other words, the mounting stay <NUM> can be rotated even without removing the attachment screws <NUM>. Also, the mounting stay <NUM> can be fixed also in any rotation position.

On a surface of the first tab <NUM> on an inner side in the vehicle width direction, a first nut member <NUM> into which the first screw <NUM> is screwed is fixed. On a surface of the second tab 60R on an inner side in the vehicle width direction, a second nut member 63R into which the second screw 62R is screwed is fixed.

As depicted in <FIG>, an end portion of the third extended portion <NUM> serves as a restricting portion <NUM> which abuts against the base stay <NUM> when the positioning device <NUM> is in the second position X2, thereby restricting forward rotation of the mounting stay <NUM>. An abutting member <NUM> is provided at a location on a lower surface of the base stay <NUM> where the restricting portion <NUM> abuts. The abutting member <NUM> is formed of an elastic plate made of rubber or the like. With the abutting member <NUM> where the restricting portion <NUM> abuts formed of an elastic plate, shock by abutting of the restricting portion <NUM> on the base stay <NUM> side can be absorbed by the abutting member <NUM>.

<FIG> and <FIG> depict a modification example of the above-described embodiment. This modification example has a detection sensor <NUM> which detects that the positioning device <NUM> is in the second position X2 and a display <NUM> which displays that the detection sensor <NUM> has detected that the positioning device <NUM> is in the second position X2.

As depicted in <FIG>, the detection sensor <NUM> is configured of, for example, a microswitch. <FIG> depicts an example in which the detection sensor <NUM> is mounted on a front portion or a rear portion of the support bracket <NUM>. The detection sensor <NUM> has a sensor main body 66A, a lever 66C having a tip portion where a roller 66B is mounted, and a button 66D.

A front-side detection sensor 66F is mounted on a sensor bracket <NUM> disposed forwardly downward of the hinge <NUM> and fixed to the first bar <NUM>. In this detection sensor 66F, when the positioning device <NUM> is shifted to the second position X2, the third extended portion <NUM> abuts on the roller 66B to push and move the roller 66B, thereby causing the lever 66C to swing and push the button 66D. With this, it is detected that the positioning device <NUM> is in the second position X2.

A rear-side detection sensor 66R is mounted on a sensor bracket <NUM> disposed rearward of the second bar <NUM> and downward of the base stay <NUM> and fixed to the second bar <NUM>. In the base stay <NUM>, an opening hole <NUM> is formed to cause the roller 66B to protrude upward from the base stay <NUM>. In this detection sensor 66R, when the positioning device <NUM> is in the first position X1, the mounting stay <NUM> pressurizes the roller 66B and the lever 66C pressurizes the button 66D. When the mounting stay <NUM> placed on the base stay <NUM> rotates upward and then rotates forward to cause the positioning device <NUM> to be shifted from the first position X1 to the second position X2, the mounting stay <NUM> goes away from the roller 66B, and the lever 66C ceases pressurization of the button 66D. With this, it is detected that the positioning device <NUM> is in the second position X2.

Note that it is only required that at least one detection sensor <NUM> be provided, but a plurality of detection sensors may be provided. The mounting location where the detection sensor <NUM> is mounted is not limited to the location depicted in <FIG>. Also, it may be detected that the positioning device <NUM> is in the second position X2 by directly detecting the positioning device <NUM> by the detection sensor <NUM>. Also, the detection sensor <NUM> may be a sensor of a contact-type detection scheme other than a microswitch. Also, the detection sensor <NUM> may be a sensor (proximity sensor) of a non-contact-type detection scheme capable of detecting that the positioning device <NUM> is in the second position X2 without making contact with the mounting stay <NUM>, the positioning device <NUM>, or the like.

As depicted in <FIG>, the detection sensor <NUM> is connected to the controller <NUM>. The controller <NUM> can acquire detection information detected by the detection sensor <NUM>. The display <NUM> is also connected to the controller <NUM>. The display <NUM> is provided at a location near the operator's seat <NUM> so as to be visually recognized by the operator with ease. The display <NUM> has a screen configured of a liquid-crystal screen or the like, and it can be displayed on the screen that that the detection sensor <NUM> has detected the second position X2 of the positioning device <NUM>. With this, when the positioning device <NUM> is in the second position X2, it is possible to let the operator recognize that automatic steering control cannot be performed. Note that the operator may be notified by a buzzer, voice, or the like that the positioning device <NUM> is in the second position X2.

Structures of the present example other than the above-mentioned structures are configured similar to those of the above-described embodiment.

<FIG> and <FIG> depict alternative embodiments.

In the alternative embodiment depicted in <FIG>, the controller <NUM> has a restraining section <NUM>. The restraining section <NUM> restrains automatic steering control based on detection information of the detection sensor <NUM>. That is, the restraining section <NUM> does not start automatic steering control when the detection sensor <NUM> detects the second position X2 of the positioning device <NUM>. The display <NUM> displays that the restraining section <NUM> restrains automatic steering control.

Note that while the material for forming the mounting stay <NUM> and its shape may not be identical to those of the foregoing embodiment, if the controller <NUM> has the restraining section <NUM>, the mounting stay <NUM> may not be necessarily configured of a member which reflects a satellite signal. Also, the width in the vehicle width direction B3 of the mounting stay <NUM> may not be large. That is, the mounting stay <NUM> may be narrow.

Structures of the alternative embodiment other than the above-described structures are configured similar to those of the foregoing embodiment and the modification example thereof.

In another embodiment depicted in <FIG>, the positioning device <NUM> has the inertial measurement unit (IMU) <NUM>.

The inertial measurement unit <NUM> has an acceleration sensor which detects acceleration of gravity, a gyro sensor which detects an angular velocity, and so forth. By this inertial measurement unit <NUM>, it is possible to detect a roll angle, a pitch angle, a yaw angle, and so forth of the vehicle body <NUM>. The controller <NUM> can acquire detection information detected by the inertial measurement unit <NUM>.

By the inertial measurement unit <NUM> (the acceleration sensor, the gyro sensor, and so forth), the tilt of the positioning device <NUM> can be detected. That is, the inertial measurement unit <NUM> is a tilt sensor capable of detecting the tilt of the positioning device <NUM>. Therefore, the inertial measurement unit <NUM> detects a tilt of the positioning device <NUM> when in the second position X2, thereby allowing detection of the existence of the positioning device <NUM> in the second position X2. The positioning device <NUM> is connected to the controller <NUM> so that the controller <NUM> can obtain information about detection by use of the inertial measurement unit <NUM>. Thus, the controller <NUM> can grasp that the positioning device <NUM> is in the second position X2 (faces downward).

The controller <NUM> has a determination section <NUM> and the restraining section <NUM>. The determination section <NUM> determines, based on the detection information of the inertial measurement unit <NUM>, that the positioning device <NUM> is in the second position X2. The restraining section <NUM> restrains automatic steering control when the determination section <NUM> determines that the second position X2 of the positioning device <NUM>. The display <NUM> displays that the restraining section <NUM> restrains automatic steering control.

To detect that the positioning device <NUM> is in the second position X2, by using the inertial measurement unit <NUM> included in the positioning device <NUM>, it is possible to simplify the structure and reduce cost.

The working vehicle <NUM> of the present embodiment comprises the travelable vehicle body <NUM>, a positioning device <NUM> to detect a position of the vehicle body <NUM> based on a signal transmitted from a positioning satellite, the controller <NUM> to perform automatic steering control in which steering of the vehicle body <NUM> is automatically controlled based on detection information detected by the positioning device <NUM>, and the restraining section <NUM> or <NUM> to restrain automatic steering control. The positioning device <NUM> can be shifted to the first position X1, where the positioning device <NUM> is disposed to be used, and the second position X2, which is a position lower than the first position X1. The restraining section <NUM> or <NUM> restrains the automatic steering control when the positioning device <NUM> is in the second position.

According to this structure, the positioning device <NUM> when in the second position X2 is prevented from performing the automatic steering control.

Also, the support bracket <NUM> supports the positioning device <NUM> so as to enable the positioning device to be shifted between the first position X1 and the second position X2. The support bracket <NUM> comprises the pivotal shaft <NUM> and the mounting stay <NUM> that is rotatable around the pivotal shaft <NUM> and has the lower surface 30b side of the positioning device <NUM>, when in the first position X1, mounted thereon. According to rotation of the mounting stay <NUM> around the pivotal shaft <NUM>, the positioning device <NUM> is shifted from the first position X1 to the second position X2 where the side of the positioning device <NUM> having been arranged as the upper surface 30a thereof when the positioning device <NUM> being in the first position X1 comes to face downward. The mounting stay <NUM> is configured of a member which reflects the signal transmitted from the positioning satellite and serves as the restraining section that restrains automatic steering control by covering over the positioning device <NUM> in the second position X2.

According to this structure, even if it is not detected that the positioning device <NUM> is in the second position X2, the positioning device <NUM> when in the second position X2 is prevented from performing automatic steering control.

Also, the mounting stay <NUM> comprises the main plate portion <NUM> onto which the positioning device <NUM> is mounted, the first extending plate portion <NUM> extending in one lateral direction from the main plate portion <NUM>, and the second extending plate portion 52R extending in the other lateral direction from the main plate portion <NUM>.

According to this structure, the satellite signal can be favorably interrupted when the positioning device <NUM> is in the second position X2.

Also, the detection sensor <NUM> is provided to detect that the positioning device <NUM> is in the second position X2.

According to this structure, the operator can be notified that the positioning device <NUM> is in the second position X2.

Also, the display <NUM> is provided to display that the detection sensor <NUM> has detected the second position X2.

According to this structure, the operator can recognize that the positioning device <NUM> is in the second position X2.

Also, the detection sensor <NUM> is provided to detect that the positioning device <NUM> is in the second position X2, and the controller <NUM> has the restraining section <NUM> which restrains automatic steering control based on the detection information of the detection sensor <NUM>.

Also, the positioning device <NUM> has a tilt sensor (inertial measurement unit <NUM>) configured to detect a tile of the positioning device <NUM>, the controller <NUM> has the determination section <NUM>, which determines based on the information about detection by use of the tilt sensor <NUM> that the positioning device <NUM> is in the second position X2, and the restraining section <NUM>, which restrains automatic steering control when the determination section <NUM> determines that the positioning device <NUM> is in the second position X2.

Also according to this structure, the positioning device <NUM> when in the second position X2 is prevented from performing automatic steering control.

Also, the positioning device <NUM> has the inertial measurement unit <NUM>, and the tilt sensor serves as the inertial measurement unit <NUM>.

According to this structure, the inertial measurement unit <NUM> included in the positioning device <NUM> detects that the positioning device <NUM> is in the second position X2, thereby simplifying the structure to detect that the positioning device <NUM> is in the second position X2.

Also, the display <NUM> is provided to display that the restraining section <NUM> restrains automatic steering control.

According to this structure, the operator can recognize that automatic steering control is not performed.

Also, the working vehicle <NUM> comprises the vehicle body <NUM>, the positioning device <NUM> to detect a position of the vehicle body <NUM> based on a signal transmitted from a positioning satellite, and the support bracket <NUM> supporting the positioning device <NUM> so that the positioning device <NUM> is shiftable to the first position X1, which is a position for use, and the second position X2, which is a position lower than the first position X1. The support bracket <NUM> comprises the base stay <NUM> mounted on a vehicle body <NUM> side and the mounting stay <NUM> pivotally supported by the base stay <NUM> via the pivotal shaft <NUM> and on which the lower surface 30b side of the positioning device <NUM> in the first position X1 is mounted. With the mounting stay <NUM> rotating around the pivotal shaft <NUM>, the positioning device <NUM> is shifted from the first position X1 to the second position X2 where the side of the positioning device <NUM> having been arranged as the upper surface 30a thereof when the positioning device <NUM> being in the first position X1 is turned to face downward.

According to this structure, when the positioning device <NUM> is unused, the positioning device <NUM> is moved to the second position X2 lower than the first position X1 for use thereof, thereby preventing the positioning device <NUM> from hitting an obstacle. Also, when the positioning device <NUM> is in the second position X2, the side of the positioning device <NUM> having been arranged as the upper surface 30a thereof when the positioning device <NUM> being in the first position X1 comes to face downward, the second position X2 can be sufficiently lower than the first position X1.

Also, when the positioning device <NUM> is in the first position X1, the mounting stay <NUM> is placed on the base stay <NUM>.

According to this structure, at the time of using the positioning device <NUM>, the positioning device <NUM> can be securely supported.

Also, the support bracket <NUM> has the fixed-side hinge tabs <NUM> provided on the base stay <NUM> and the movable-side hinge tabs <NUM> provided on the mounting stay <NUM> and pivotally coupled to the fixed-side hinge tabs <NUM> via the pivotal shaft <NUM>.

According to this structure, the positioning device <NUM> can be shifted from the first position X1 to the second position X2 where the side having been arranged as the upper surface comes to face downward.

Also, the support bracket <NUM> has the fixed tabs <NUM> provided on the base stay <NUM>, the movable tabs <NUM> provided on the mounting stay <NUM>, and the attachment screws <NUM> for mounting the movable tabs <NUM> to the fixed tabs <NUM>. The attachment screws <NUM> are provided on the axis Y2 substantially coaxial to the pivotal shaft <NUM>.

According to this structure, the mounting stay <NUM> can be rotated by loosening the attachment screws <NUM>.

Also, the cabin <NUM> may be mounted on the vehicle body <NUM>, the cabin <NUM> may have a roof <NUM> at an upper portion thereof, and the positioning device <NUM>, when in the first position X1, may be disposed on an upper side of the roof <NUM> and, when in the second position X2, may be at least partially in a position higher than the upper end of the roof <NUM>.

Also, the first bar <NUM> and the second bar <NUM> extend in the vehicle width direction B3 above the roof and are juxtaposed in the fore-and-aft direction A3. The base stay <NUM> has the base plate portion <NUM> and the extending portion <NUM>. The base plate portion <NUM> are provided on the first bar <NUM> and the second bar <NUM> so that the mounting stay <NUM> is placed on the base plate portion <NUM> when the positioning device <NUM> is in the first position X1. The extending portion <NUM> extends downward from the base plate portion <NUM> and between the first bar <NUM> and the second bar <NUM>.

According to this structure, the base stay <NUM> can be firmly mounted on the first bar <NUM> and the second bar <NUM>.

Claim 1:
A working vehicle, comprising:
- a travelable vehicle body (<NUM>);
- a positioning device (<NUM>) configured to detect a position of the vehicle body (<NUM>) based on a signal transmitted from a positioning satellite;
- a controller (<NUM>) configured or programmed to perform an automatic steering control in which steering of the vehicle body (<NUM>) is automatically controlled based on detection information detected by the positioning device (<NUM>);
- a restraining section (<NUM>) configured to restrain the automatic steering control; and
- a support bracket (<NUM>) that supports the positioning device (<NUM>);
wherein
- the positioning device (<NUM>) is supported by the support bracket (<NUM>) so as to allow the positioning device (<NUM>) to be shifted between a first position (X1) where the positioning device (<NUM>) is used and a second position (X2) lower than the first position (X1),
- the restraining section (<NUM>) restrains the automatic steering control when the positioning device (<NUM>) is in the second position (X2),
- the support bracket (<NUM>) comprises a pivotal shaft (<NUM>) and a mounting stay (<NUM>) rotatable around the pivotal shaft (<NUM>), the mounting stay (<NUM>) being configured to have the positioning device (<NUM>) mounted thereon,
characterized in that
- the mounting stay (<NUM>) is made of a plate that reflects the signal transmitted from the positioning satellite,
- the mounting stay (<NUM>) is disposed below the positioning device (<NUM>) when the positioning device (<NUM>) is in the first position (X1), and
- when the positioning device (<NUM>) is rotated from the first position (X1) together with the mounting stay (<NUM>) around the pivotal shaft (<NUM>), the positioning device (<NUM>) is moved to the second position (X2) and the mounting stay (<NUM>) is positioned above the positioning device (<NUM>) in the second position (X2) and covers over the positioning device (<NUM>) so as to restrain the automatic steering control and thus serves as the restraining section (<NUM>).