Work vehicle

Abstract

The invention relates to a work vehicle. Provided are a technique whereby a quantum compass can be appropriately disposed in a work vehicle, and a technique suitable for a work vehicle provided with a positioning device. An exemplary work vehicle is provided with: a riding section having a floor; a power transmission unit disposed below the floor; an instrument panel part provided at the front part of the riding part; and a quantum compass provided in the dashboard section, the seat section, or the periphery thereof, disposed between the riding section or the floor and the power transmission section.

Description

Technical Field

[0001] The present invention relates to a working vehicle. Background Art

[0002] Conventionally, work vehicles are known that have the function of acquiring the vehicle's location information for purposes such as autonomous driving, recording work information, and theft prevention. Conventionally, positioning satellites have been used to acquire the vehicle's location information. Patent Document 1 discloses a work vehicle equipped with a GNSS (Global Navigation Satellite System) antenna for acquiring information (satellite information) from positioning satellites. Furthermore, Patent Document 2 discloses a work vehicle equipped with a positioning unit for acquiring information (satellite information) from positioning satellites.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2018-129654

[0006] Patent Document 2: Japanese Patent Application Laid-Open No. 2021-54408 Summary of the Invention

[0007] In a structure that uses satellite information to obtain the position information of the vehicle, the positioning antenna needs to be placed in a position that can easily communicate with the satellite, which restricts the configuration of the positioning device. In addition, the accuracy of the position information that can be obtained is sometimes reduced due to the influence of the communication environment. In this regard, if a quantum compass is used as a positioning device to obtain the position information of the work vehicle, there is no need for communication with the satellite, so it is believed that the freedom of configuration of the positioning device is increased. However, the operating environment of the work vehicle is more severe than that of an ordinary car. For example, there is a lot of dust and dirt, and the vibration during driving is likely to become larger. That is, when configuring a quantum compass or a positioning device on a work vehicle, it is necessary to consider the configuration of the harsh operating environment.

[0008] An object of the present invention is to provide a technology that can appropriately arrange a quantum compass on a work vehicle, or a technology that is suitable for a work vehicle equipped with a positioning device.

[0009] An exemplary work vehicle according to the present invention includes: a passenger compartment having a floor; a power transmission unit disposed below the floor; a seat supported by the floor; an instrument panel disposed in front of the passenger compartment; and a quantum compass disposed on or near the instrument panel or seat disposed between the floor and the power transmission unit. Furthermore, the exemplary work vehicle according to the present invention includes a cab and a quantum compass disposed in the cab.

[0010] Effects of the Invention

[0011] According to the exemplary present invention, the quantum compass can be placed at an appropriate location on the work vehicle. In addition, the work vehicle according to the exemplary present invention can appropriately acquire position information while suppressing the influence of the communication environment and the harsh operating environment during work. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a side view showing the schematic structure of the work vehicle.

[0013] Figure 2 It is a plan view showing a schematic structure of a work vehicle.

[0014] Figure 3 It is a perspective view showing a schematic structure of a boarding base constituting the boarding section.

[0015] Figure 4 It means in Figure 3 The figure shows a state where the seat portion is installed on the riding base portion.

[0016] Figure 5 It is a side view showing the schematic structure of a boarding base constituting the boarding portion.

[0017] Figure 6 It is a side view showing a schematic structure of a work vehicle in another embodiment to which the present invention can be applied.

[0018] Figure 7 Yes Figure 6 A perspective view schematically illustrating the structure of a riding base in a cab-type work vehicle is shown.

[0019] Figure 8 This is a schematic diagram showing the relationship between the floor and the power transmission unit.

[0020] Figure 9 It is a longitudinal sectional view showing the schematic structure of the instrument panel portion.

[0021] Figure 10A This is a side view schematically showing the configuration of the quantum compass according to the first embodiment.

[0022] Figure 10B This is a rear view schematically showing the configuration of the quantum compass according to the first embodiment.

[0023] Figure 11 It is a diagram showing a modified example of the first embodiment.

[0024] Figure 12A This is a side view schematically showing the configuration of the quantum compass according to the second embodiment.

[0025] Figure 12B This is a rear view schematically showing the configuration of the quantum compass according to the second embodiment.

[0026] Figure 13 This is a rear view schematically showing the configuration of the quantum compass according to the third embodiment.

[0027] Figure 14 This is a diagram showing the configuration of a quantum compass according to a first variation of the third embodiment.

[0028] Figure 15 This is a diagram showing the configuration of a quantum compass, which is a second variation of the third embodiment.

[0029] Figure 16 This is a rear view schematically showing the configuration of the quantum compass according to the fourth embodiment.

[0030] Figure 17 This is a side view schematically showing the configuration of the quantum compass according to the fifth embodiment.

[0031] Figure 18 This is a diagram showing a modification of the fifth embodiment in terms of the configuration of the quantum compass.

[0032] Figure 19 This is a side view schematically showing the configuration of the quantum compass according to the sixth embodiment.

[0033] Figure 20 This is a diagram schematically showing the configuration of the quantum compass according to the seventh embodiment.

[0034] Figure 21A This is a cross-sectional view schematically showing the configuration of the quantum compass according to the eighth embodiment.

[0035] Figure 21B This is a longitudinal sectional view schematically showing the configuration of the quantum compass according to the eighth embodiment.

[0036] Figure 22 This is a diagram schematically showing the configuration of the quantum compass according to the ninth embodiment.

[0037] Figure 23 This is a diagram schematically showing the configuration of a quantum compass according to a tenth embodiment.

[0038] Figure 24 This is a longitudinal sectional view schematically showing the configuration of the quantum compass according to the eleventh embodiment.

[0039] Figure 25 This is a schematic diagram for explaining the configuration of the quantum compass according to the twelfth embodiment, and is an exploded view showing a seat portion and its surroundings.

[0040] Figure 26 This is a longitudinal sectional view schematically showing the configuration of the quantum compass according to the twelfth embodiment.

[0041] Figure 27 This is a longitudinal sectional view schematically showing the configuration of the quantum compass according to the thirteenth embodiment.

[0042] Figure 28 This is a schematic diagram for explaining the configuration of the quantum compass according to the fourteenth embodiment.

[0043] Figure 29 yes Figure 28 A schematic cross-sectional view of the XIII-XIII position.

[0044] Figure 30 It is a side view showing the schematic structure of the work vehicle.

[0045] Figure 31 It is a plan view showing a schematic structure of a work vehicle.

[0046] Figure 32 It is a perspective view showing a schematic structure of a cab base constituting a cab.

[0047] Figure 33 It is a side view showing the schematic structure of the cab base.

[0048] Figure 34 It is a side view schematically showing the configuration of the quantum compass according to the fifteenth embodiment.

[0049] Figure 35 This is a front view schematically showing the configuration of the quantum compass according to the fifteenth embodiment.

[0050] Figure 36 It is a side view schematically showing the configuration of the quantum compass according to the sixteenth embodiment.

[0051] Figure 37 This is a front view schematically showing the configuration of the quantum compass according to the sixteenth embodiment.

[0052] Figure 38 This is a front view schematically showing the configuration of the quantum compass according to the seventeenth embodiment.

[0053] Figure 39 is Figure 38 A schematic cross-sectional view taken at position XX.

[0054] Figure 40 It is a top view schematically showing the configuration of the quantum compass according to the eighteenth embodiment.

[0055] Figure 41 is Figure 40A schematic cross-sectional view taken along line XII-XII.

[0056] Figure 42 It is a cross-sectional view schematically showing the configuration of the quantum compass according to the nineteenth embodiment.

[0057] Figure 43 This is a cross-sectional view schematically showing the configuration of the quantum compass according to the 20th embodiment.

[0058] Figure 44 It is a side view showing a schematic structure of a work vehicle according to another embodiment. DETAILED DESCRIPTION

[0059] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0060] The work vehicle involved in the embodiments of the present invention is a tractor. However, this is merely an example. The work vehicle may also be agricultural machinery other than a tractor, such as a harvester such as a combine or a transfer machine such as a rice transplanter. Furthermore, the work vehicle may be a work machine used for civil engineering or construction work, or a work machine other than agricultural machinery, such as a snowplow.

[0061] In addition, in this specification, directions are defined as follows. First, the direction in which the tractor, which is a working vehicle, moves during operation is set as "front", and the opposite direction is set as "rear". In addition, the right side is set as right, and the left side is set as left, when moving toward the tractor during operation. Furthermore, the direction perpendicular to the front-back direction and the left-right direction of the tractor is set as the up-down direction. At this time, the direction of gravity is set as down, and the opposite side is set as up. In addition, the plane perpendicular to the up-down direction is set as a horizontal plane, and the direction along the horizontal plane is set as a horizontal direction. It should be noted that the above directions are names used for explanation purposes only and are not intended to limit the actual positional relationship and direction.

[0062] <1. Overview of Work Vehicles>

[0063] Figure 1 and Figure 30 It is a side view showing a schematic structure of a work vehicle 1 according to an embodiment of the present invention. Figure 2 and Figure 31 1 is a plan view showing a schematic structure of a work vehicle 1 according to an embodiment of the present invention. Figure 1 、 Figure 30 and Figure 31 As shown, the work vehicle 1 includes a vehicle body 2 , wheels 3 , a prime mover 4 , and a power transmission unit 5 .

[0064] like Figure 1 、 Figure 2 、 Figure 30 and Figure 31 As shown, the wheels 3 include front wheels 3a and rear wheels 3b. The front wheels 3a are located on the left and right sides of the front portion of the vehicle body 2. The rear wheels 3b are located on the left and right sides of the rear portion of the vehicle body 2. The vehicle body 2 is configured to be able to travel using the front wheels 3a and rear wheels 3b. In other words, the work vehicle 1 of this embodiment is a wheeled tractor. However, the work vehicle 1 is not limited to a wheeled type and may also be a crawler-type tractor that travels using crawler tracks.

[0065] The prime mover 4 is disposed at the front of the vehicle body 2, covered by a hood 6. In this embodiment, the prime mover 4 is an engine. Examples of the engine include a diesel engine, a gasoline engine, a hydrogen engine, and a gas engine. However, the prime mover 4 may be a structure other than an engine, such as a motor.

[0066] The power transmission unit 5 is arranged at the rear of the prime mover 4. The power transmission unit 5 transmits the power of the prime mover 4 to the wheels 3. In detail, the power of the prime mover 4 is transmitted to at least one of the front wheel 3a and the rear wheel 3b via the power transmission unit 5. In the present embodiment, the power of the prime mover 4 is transmitted to the front wheel 3a and the rear wheel 3b via the power transmission unit 5. In detail, the power transmission unit 5 has a transmission 212 in which a transmission is arranged. In addition to or instead of the transmission 212, the power transmission unit 5 may have at least one of a power transmission shaft, a gear, a pulley, a belt, a chain, a speed reducer, and a housing that accommodates these power transmission elements.

[0067] The vehicle body 2 includes a base portion 21 to which the wheels 3 are mounted, and a riding portion 22 supported by the base portion 21. That is, the work vehicle 1 includes the base portion 21 and the riding portion 22.

[0068] Specifically, the base 21 includes a base frame 211, a transmission 212 included in the power transmission unit 5, a front axle 213, and a rear axle 214. The front axle 213 has a front axle (not shown) to which the front wheels 3a are mounted. The rear axle 214 has a rear axle (not shown) to which the rear wheels 3b are mounted. The transmission 212 and the front axle 213 are mounted to the base frame 211. The rear axle 214 is mounted to the transmission 212. It should be noted that the base frame 211 supports the prime mover 4.

[0069] The passenger section 22 is the portion of the vehicle body 2 on which the driver (operator) rides, and is located behind the prime mover 4. Furthermore, the passenger section 22 is located above the power transmission section 5. In this embodiment, the passenger section 22 has an interior space (a room-like space) for the driver to ride. That is, in this embodiment, the passenger section 22 is a so-called driver's cab, which includes a seat 221, a steering section 222, and an instrument panel 223. The work vehicle 1 includes a driver's cab 22, namely, a seat 221, a steering section 222, and an instrument panel 223. The driver's cab 22 is supported by the base section 21.

[0070] exist Figure 31 In order to be able to see the interior of the cab 22, the roof 225 constituting the cab 22 is removed (see Figure 30 ), front windshield (a type of transparent component 226) and other parts. Figure 31 As shown, a seat portion 221, a steering portion 222, and an instrument panel portion 223 are provided inside the cab 22. That is, the work vehicle 1 includes the seat portion 221, the steering portion 222, and the instrument panel portion 223.

[0071] The seat portion 221 is a place where the driver of the work vehicle 1 sits. The steering portion 222 is a device for the driver sitting in the seat portion 221 to steer the work vehicle 1. In detail, the steering portion 222 includes a steering wheel 222a and a steering column 222b. The steering wheel 222a is a portion operated by the driver and is circular in shape. The steering wheel 222a is supported so as to be rotatable by a steering shaft (not shown) arranged in the steering column 222b arranged below the steering wheel 222a. By rotating the steering wheel 222a, the direction of the front wheels 3a can be changed.

[0072] The instrument panel 223 is provided at the front of the passenger compartment 22. Specifically, at least a portion of the instrument panel 223 is positioned forward of the steering column 222b. The instrument panel 223 includes an instrument panel (dashboard) that visualizes values ​​measured by various instruments, including the speed of the work vehicle 1, and various levers and switches used for operating the work vehicle 1.

[0073] It should be noted that, in addition to this, levers, pedals, etc. for operating the work vehicle 1 itself and the work machine (not shown) installed at the rear of the work vehicle 1 are arranged on the boarding portion 22 and around the seat portion 221. In addition, an operating portion 224 used to make the work vehicle 1 automatically travel is arranged in front of the seat portion 221 on the boarding portion 22. The operating portion 224 can start automatic travel, set automatic travel conditions, etc. It should be noted that automatic travel refers to at least autonomous steering by controlling a device related to travel by a control device (not shown). During automatic travel, in addition to steering, at least one of the vehicle speed adjustment and the operation of the work machine can also be performed autonomously.

[0074] In addition, in this embodiment, the rope frame 7 is provided behind the seat portion 221. The rope frame 7 can protect the driver when the work vehicle 1 falls over.

[0075] In addition, a work machine connection portion 8 composed of, for example, a three-point linkage mechanism is provided at the rear portion of the vehicle body 2. The work machine connection portion 8 is provided so that a work machine can be detached and mounted. The type of work machine that can be mounted on the work machine connection portion 8 may be only one type, but preferably multiple types. Examples of work machines include tilling devices, plowing machines, fertilizer devices, pesticide spraying devices, harvesting devices, and cutting devices. In addition, a lifting device 9 having a hydraulic device such as a lifting cylinder is provided at the rear portion of the vehicle body 2 (see the following description). Figure 8 ). The lifting device 9 raises and lowers the work machine connection portion 8 and can raise and lower the work machine installed on the work machine connection portion 8. In addition, the power generated by the prime mover 4 can be transmitted to the work machine via a power output shaft (PTO shaft; not shown) extending from the power transmission portion 5 toward the rear of the vehicle body 2. That is, the prime mover 4 can be used to make the work machine perform an action. It should be noted that the work machine can also be driven by a drive device (such as a motor) different from the prime mover 4.

[0076] <2. Structure of the boarding section>

[0077] The structure of the riding section 22 included in the work vehicle 1 will be described in further detail. Figure 3 and Figure 32 2 is a perspective view showing a schematic structure of the boarding base 220 constituting the boarding portion 22. Figure 32 , not only the cab base 220 but also the seat portion 221 mounted on the cab base 220 is shown. Figure 4 It means in Figure 3 The figure shows a state where the seat portion 221 is attached to the boarding base 220. Figure 5 It is a side view showing a schematic structure of the boarding base 220 constituting the boarding section 22.

[0078] The boarding base 220 is a part that becomes the basis of the boarding portion 22. The seat portion 221, the steering portion 222, the instrument panel portion 223, etc. are arranged on the boarding base 220. Figures 3 to 5 and Figure 32 As shown, the boarding base 220 includes a boarding section frame 2201, a floor 2202, a boarding section front wall 2203, a boarding section rear wall 2204, and left and right boarding section side walls 2205. In other words, the boarding section 22 includes the boarding section frame 2201, the floor 2202, the boarding section front wall 2203, the boarding section rear wall 2204, and left and right boarding section side walls 2205.

[0079] The boarding section frame 2201 is a portion that serves as the skeleton of the boarding section 22. Specifically, the work vehicle 1 includes the boarding section frame 2201 that constitutes the boarding section 22. The boarding section 22 includes the boarding section frame 2201. The floor 2202, the boarding section front wall 2203, the boarding section rear wall 2204, and the left and right boarding section side walls 2205 are supported on the boarding section frame 2201. It should be noted that the rope frame 7 is supported on the boarding section frame 2201.

[0080] The floor 2202 constitutes the floor surface of the boarding portion 22. In other words, the floor 2202 constitutes the bottom wall of the boarding portion 22. The floor 2202 may be composed of a single component (floor component), but in this embodiment, it is composed of a plurality of components (floor components). It should be noted that a floor mat may be placed on at least a portion of the upper surface of the floor 2202. Specifically, the floor 2202 includes a lower floor 2202a, an upper floor 2202b, and a connecting floor 2202c connecting the lower floor 2202a and the upper floor 2202b. The lower floor 2202a and the upper floor 2202b extend in the horizontal direction. The lower floor 2202a is arranged at a lower height position in the vertical direction than the upper floor 2202b. The connecting floor 2202c connects the rear end of the lower floor 2202a to the front end of the upper floor 2202b.

[0081] like Figure 4 As shown, seat 221 is disposed on upper floor 2202b. That is, seat 221 is supported by floor 2202. When operating work vehicle 1, the driver, seated in seat 221, places their feet on lower floor 2202a. It should be noted that a floor mat may be placed on the upper surface of lower floor 2202a.

[0082] The passenger compartment front wall 2203 is erected in the left-right center of the front end of the passenger compartment 22. Specifically, the passenger compartment front wall 2203 serves as a partition that prevents high-temperature air from inside the engine hood 6 from flowing into the passenger compartment 22. In other words, the passenger compartment front wall 2203 is a so-called air damper. However, the passenger compartment front wall 2203 does not need to be an air damper. In other words, the passenger compartment front wall 2203 may not function as an air damper.

[0083] The passenger section rear wall 2204 is disposed behind the seat section 221 so as to face the rear surface of the seat section 221. Specifically, the passenger section 22 includes the passenger section rear wall 2204 disposed behind the seat section 221. Specifically, the passenger section rear wall 2204 extends upward from the rear end of the upper floor 2202b. It should be noted that, in this embodiment, the passenger section rear wall 2204 is formed from the same components as those constituting the upper floor 2202b, but may alternatively be formed from components different from those of the upper floor 2202b. Left and right passenger section side walls 2205 are disposed on the left and right sides of the upper floor 2202b. The left and right passenger section side walls 2205 are disposed in the left-right direction so as to sandwich the seat section 221 disposed on the upper floor 2202b.

[0084] Figure 33 2 is a side view showing the schematic structure of the cab base 220. Figure 33 The base portion 21 supporting the cab base 220 is shown in FIG. Figure 30 etc.). Figure 5 and Figure 33 As shown, the riding base 220 constructed as described above is arranged on the base portion 21 with the aid of the vibration-isolating component 10. That is, the base portion 21 supports the riding portion 22 with the aid of the vibration-isolating component 10. The vibration-isolating component 10 is, for example, a rubber component. In this embodiment, a structure is formed in which a vibration-isolating rubber (vibration-isolating component) 10 is arranged between the base frame 211 constituting the base portion 21 and the riding portion frame 2201 supported from below by the base frame 211 (in the vertical direction). More specifically, a structure is formed in which the vibration-isolating rubber 10 is arranged between the base frame 211 and the mounting portion 2201c provided at the lower portion of the riding portion frame 2201. The vibration-isolating effect of the vibration-isolating component 10 can suppress the vibration (travel vibration) generated by the travel of the work vehicle 1 from being transmitted to the riding portion 22. That is, the vibration-isolating effect of the vibration-isolating component 10 can suppress the shaking of electrical components and the like arranged in the riding portion 22 due to travel vibration.

[0085] <3. Cab structure>

[0086] The structure of cab 22 included in work vehicle 1 will be described in further detail. Figure 32 2 is a perspective view showing a schematic structure of the cab base 220 constituting the cab 22. Figure 32 , not only the cab base 220 but also the seat portion 221 mounted on the cab base 220 is shown.

[0087] The cab base 220 is a part that becomes the foundation of the cab 22. The seat portion 221, the steering portion 222, the instrument panel portion 223, etc. are arranged on the cab base 220. Figure 32As shown, the cab base 220 has a cab frame 2201 , a floor 2202 , a cab front wall 2203 , a cab rear wall 2204 , and left and right cab side walls 2205 .

[0088] Cab frame 2201 forms the framework of cab 22. That is, work vehicle 1 includes cab frame 2201 that constitutes cab 22. Cab 22 includes cab frame 2201. Floor 2202, cab front wall 2203, cab rear wall 2204, and left and right cab side walls 2205 are attached to cab frame 2201.

[0089] Floor 2202 forms the floor of cab 22. In other words, floor 2202 forms the bottom wall of cab 22. Floor 2202 can also be composed of a single component (floor component), but in this embodiment, it is composed of multiple components (floor components). The seat portion 221 is supported by floor 2202. It should be noted that a floor mat may be placed on at least a portion of the upper surface of floor 2202.

[0090] The cab front wall 2203 is erected in the left-right center of the front end of the cab 22. Specifically, the cab front wall 2203 is a partition wall that prevents high-temperature air from inside the engine hood 6 from flowing into the cab 22. In other words, the cab front wall 2203 is a so-called air damper.

[0091] The cab rear wall 2204 is arranged behind the seat portion 221 so as to face the rear surface of the seat portion 221. The cab rear wall 2204 extends upward from the rear end of the floor 2202. The left and right cab side walls 2205 are arranged on the left and right sides of the seat portion 221.

[0092] It should be noted that in Figure 32 The top surface, front surface, rear surface, left and right sides of the cab base 220 are respectively provided with openings. A roof 225 (see FIG. Figure 30 ). That is, the cab 22 has a roof 225. In addition, transparent members 226 such as glass are arranged at the openings of the front surface, the rear surface, and the left and right sides (see Figure 30 A portion of the transparent member 226 disposed on the left and right sides constitutes a door for the driver to enter and exit the cab 22.

[0093] Figure 33 2 is a side view showing the schematic structure of the cab base 220. Figure 33 The base portion 21 supporting the cab base 220 is shown in FIG. Figure 30 etc.). Figure 33As shown, the cab base 220 is supported on the base portion 21 via the vibration-isolating member 10. That is, the cab 22 is supported on the base portion 21 via the vibration-isolating member 10. The vibration-isolating member 10 is a member made of rubber, for example.

[0094] Specifically, a vibration-isolating member 10 is disposed between the base 21 and the cab base 220, which is supported from below by the base 21 (in the vertical direction). The vibration-isolating effect of the vibration-isolating member 10 suppresses the transmission of vibrations (travel vibrations) generated by the travel of the work vehicle 1 to the cab 22. Specifically, the vibration-isolating effect of the vibration-isolating member 10 suppresses the shaking of electrical components and the like disposed in the cab 22 due to travel vibrations.

[0095] 4. Quantum Compass

[0096] [4-1. Summary]

[0097] As described above, in this embodiment, the work vehicle 1 is configured to be able to travel automatically. In order for the work vehicle 1 to travel automatically, the position information of the vehicle (the vehicle itself) is required. In order to obtain the position information of the vehicle itself, the work vehicle 1 of this embodiment is equipped with a quantum compass 11 (see the following). Figure 10A 、 Figure 20 、 Figure 24 、 Figure 34 It should be noted that in this embodiment, the work vehicle 1 is equipped with a quantum compass 11 for acquiring position information for the purpose of enabling autonomous driving. However, this is merely an example. For example, a quantum compass capable of acquiring position information may be equipped on the work vehicle 1 for other purposes, such as recording work information of the work vehicle 1 or preventing theft.

[0098] The quantum compass 11 is an electrical component that operates using electricity and can measure latitude and longitude. As an electrical component, the quantum compass 11 is mounted on the work vehicle 1. The quantum compass 11 is not subject to the same communication-related configuration constraints as when satellite information is used to acquire positional information. Therefore, the quantum compass 11 does not need to be located at the top of the work vehicle 1; it can also be located inside the cab. On the other hand, since the quantum compass 11 is an electrical component, it is preferably located in a location where it is protected from rain, mud, exhaust fumes, and the like. Taking these considerations into account, the configuration of the quantum compass 11 has been carefully considered in this embodiment. The following describes the detailed configuration of the quantum compass 11 using several examples.

[0099] It should be noted that in this embodiment, the number of quantum compasses 11 installed on the work vehicle 1 is one. However, the number of quantum compasses 11 installed on the work vehicle 1 may be multiple. For example, a configuration in which two quantum compasses 11 are arranged symmetrically in front and back, or in left and right directions, may be employed to control the posture of the work vehicle 1.

[0100] Before describing a detailed example of a method for arranging the quantum compass 11 , an overview of the arrangement of the quantum compass 11 will be described in advance.

[0101] In this embodiment, the quantum compass 11 is provided in the cab 22. The quantum compass 11 can be arranged inside the cab 22 or outside the cab 22. As described above, the cab 22 is provided with the vibration-proof member 10 (see Figure 33 ) and is supported by a base portion 21 on which the wheels 3 are mounted, and has a vibration-isolating structure. Specifically, in this embodiment, the quantum compass 11 is placed in a cab 22 having a vibration-isolating structure. Therefore, in this embodiment, it is possible to suppress a decrease in the measurement accuracy of the quantum compass 11 due to vibrations caused by the travel of the work vehicle 1.

[0102] The cab 22 is provided in a location surrounded by the front, rear, left, and right wheels 3 (four wheels 3) in a plan view (see FIG. Figure 31 Therefore, by installing the quantum compass 11 in the cab 22, it can be positioned at a location surrounded by the four wheels 3 when viewed from above. In other words, the quantum compass 11 can be positioned at a location with a small offset from the control point of the work vehicle 1 during autonomous driving. As a result, it is possible to reduce errors in the vehicle's position measurement using the quantum compass 11 and control autonomous driving. It should be noted that the control point during autonomous driving is, for example, the center of the four wheels 3.

[0103] As can be seen from the above, the quantum compass 11 is preferably placed at a position where the positional deviation from the control point during autonomous driving is small. In this sense, the quantum compass 11 is preferably placed at the bisector (center line) CL (see FIG. 1 ) which divides the work vehicle 1 into two equal parts in the left-right direction when viewed from above. Figure 2 ). In other words, the quantum compass 11 is preferably positioned in the center of the vehicle in the left-right direction when viewed from above. This configuration reduces the positional offset of the quantum compass 11 relative to the control point during autonomous driving, and reduces the complexity of the process for determining the vehicle's position using the quantum compass 11. In other words, the autonomous driving control process can be simplified.

[0104] In this embodiment, the quantum compass 11 is preferably positioned around the roof 225 of the cab 22. Placing the quantum compass 11 in this location makes it difficult for people to come into contact with the quantum compass 11. Specifically, it prevents passengers in the work vehicle 1 from accidentally coming into contact with the quantum compass 11. Furthermore, placing the quantum compass 11 in this location makes it difficult to see from the outside, thereby minimizing deterioration in the aesthetic appearance of the cab 22 interior.

[0105] The arrangement of the quantum compass 11 described below is not limited to the work vehicle 1 in which the driver's riding space composed of the riding portion 22 is open to the outside as in the present embodiment, and can also be applied to Figure 6 The riding portion 22A shown is a work vehicle 1A having a cab-type structure. Figure 6 This is a side view schematically illustrating the structure of another embodiment of a work vehicle 1A to which the present invention is applicable. In cab-type work vehicle 1A, the driver's riding space formed by riding section 22A is a room-type space separated from the outside.

[0106] The work vehicle 1A having a cab-type passenger section 22A also includes a vehicle body 2, wheels 3, a prime mover 4, and a power transmission section 5, similarly to the above-mentioned work vehicle 1. Furthermore, the vehicle body 2 includes: a base section 21 including a transmission 212, etc.; and a passenger section (cab) 22A supported by the base section 21. Figure 6 In the embodiment, the structure is formed so that it is hidden by the outer wall of the riding portion 22A and cannot be seen, but the riding portion 22A is provided with a seat portion 221, a steering portion 222 and an instrument panel portion 223 in the same structure as the above-mentioned work vehicle 1. In addition, the riding portion 22A is provided with a vibration-proof member 10 (see Figure 5 ) and is supported by the base portion 21.

[0107] Figure 7 Yes Figure 6 The schematic structure of the riding base 220A in the cab-type work vehicle 1A is shown in FIG. Figure 7 In order to facilitate understanding, the seat portion 221 is attached to the boarding base portion 220A. Figure 7 and the above Figure 4 As can be seen, the boarding base 220A of the cab-type work vehicle 1A also has a boarding section frame 2201A, a floor 2202A, a boarding section front wall 2203A, a boarding section rear wall 2204A, and left and right boarding section side walls 2205A, similarly to the case of the above-mentioned work vehicle 1.

[0108] As can be seen from the above description, cab-type work vehicle 1A has the same structure as work vehicle 1 of this embodiment. Therefore, it is presumed that the configuration of quantum compass 11 described below is applicable not only to work vehicle 1 of this embodiment, but also to cab-type work vehicle 1A. Furthermore, unless otherwise specified, descriptions related to cab-type work vehicle 1A will be omitted.

[0109] <5-1. Details of Quantum Compass Configuration>

[0110] Figure 8 2 is a schematic diagram showing the relationship between the floor 2202 and the power transmission unit 5. Figure 8 In order to facilitate understanding of the relationship between the floor 2202 and the power transmission unit 5, another part of the structure of the work vehicle 1 is also shown. Specifically, the rear wall 2204 of the riding part connected to the rear end of the floor 2202 and the seat part 221 arranged on the floor 2202 (specifically, the upper floor 2202b) are connected to each other. Figure 8 In addition, the rear axle 214 configured on the side of the transmission 212 constituting the power transmission unit 5 and the lifting device 9 configured above the rear portion of the transmission 212 are arranged in Figure 8 Shown in.

[0111] like Figure 8 As shown in FIG. 2 , the power transmission unit 5 is arranged below the floor 2202. Figure 9 As disclosed in the following figures, quantum compass 11 is preferably positioned below floor 2202. More preferably, quantum compass 11 is positioned between floor 2202 and power transmission unit 5. It should be noted that the term "positioned between floor 2202 and power transmission unit 5" broadly encompasses a configuration in which quantum compass 11 is positioned between floor 2202 and power transmission unit 5 when viewed from the side. Furthermore, the term "positioned between floor 2202 and power transmission unit 5" also encompasses a configuration in which at least a portion of quantum compass 11 is positioned between floor 2202 and power transmission unit 5. Furthermore, power transmission unit 5 is preferably transmission case 212.

[0112] If the quantum compass 11 is positioned vertically between the floor 2202 and the power transmission unit 5, it can be placed in a location where it is less susceptible to splashing rain and mud, thus protecting the electronic component. Furthermore, this configuration allows the quantum compass 11 to be placed in a location that is difficult for people in the vehicle to reach, preventing people (such as the driver) riding in the passenger compartment 22 from accidentally coming into contact with the quantum compass 11. Furthermore, this configuration prevents deterioration in the aesthetic appearance of the passenger compartment 22 interior by placing the quantum compass 11 in a location that is difficult to see from the outside. Furthermore, this configuration allows the quantum compass 11 to be positioned within the vehicle's perimeter, surrounded by the front, rear, left, and right wheels 3 (all four wheels 3). This allows the quantum compass 11 to be placed as close as possible to the control point during autonomous driving, minimizing errors in the vehicle's position measurement using the quantum compass 11 and enabling autonomous driving control. It should be noted that the control point during autonomous driving is, for example, the center of the four wheels 3.

[0113] Furthermore, the quantum compass 11 disposed between the floor 2202 and the power transmission unit 5 is preferably disposed on the bisector (center line) CL (see FIG. 1 ) which divides the work vehicle 1 into two equal parts in the left-right direction when viewed from above. Figure 2 ). This reduces the positional offset of the quantum compass 11 relative to the control point during autonomous driving, and prevents the process of determining the vehicle's position using the quantum compass 11 from becoming complicated. In other words, the autonomous driving control process can be simplified.

[0114] Figure 9 2 is a longitudinal sectional view showing the schematic structure of the instrument panel portion 223. Figure 9 In the figure, in addition to the instrument panel portion 223, the engine hood 6 and the floor 2202 are also shown for easy understanding. Figure 9 As shown, the instrument panel 223 includes a cover member 2231 and a passenger compartment front wall 2203. It should be noted that, as described above, the passenger compartment front wall 2203 is, as an example, an air damper in this embodiment. Therefore, the passenger compartment front wall 2203 will be referred to as the air damper 2203 below. Furthermore, the cover member 2231 will be referred to as the instrument panel cover 2231 below. The instrument panel cover 2231 may be composed of a single component or multiple components.

[0115] The air damper 2203 constitutes the front portion of the instrument panel 223. The instrument panel cover 2231 is arranged behind the air damper 2203. The instrument panel cover 2231 is a box-shaped cover opened toward the front and is arranged to cover at least a portion of the rear surface of the air damper 2203. Figure 9In the illustrated example, the instrument panel cover 2231 covers a portion of the rear surface of the air damper 2203. The lower portion of the rear surface of the air damper 2203 is not covered by the instrument panel cover 2231 and is exposed.

[0116] The instrument panel 223, comprised of the instrument panel cover 2231 and the air baffle 2203, has an interior space 223a. Within this interior space 223a, for example, the instrument panel, various wiring, and fuses (not shown) are located. Furthermore, openings are appropriately provided on the rear surface of the instrument panel cover 2231 to expose the instrument panel, switches, and other components of the instrument panel 223. The instrument panel cover 2231 is detachably mounted to the air baffle 2203 to facilitate maintenance of the components within the instrument panel 223.

[0117] Detailed example in Figure 20 As shown in the following drawings, the quantum compass 11 is provided on the instrument panel 223. The boarding section 22 includes the instrument panel 223. The boarding section 22 is provided with the vibration-proof member 10 (see FIG. Figure 5 ) and is supported by base portion 21, having a vibration-isolating structure. Specifically, quantum compass 11, located on instrument panel portion 223, is located in a portion of work vehicle 1 that has a vibration-isolating structure. This prevents any reduction in the accuracy of position measurement by quantum compass 11 due to vibrations caused by the travel of work vehicle 1.

[0118] Furthermore, the instrument panel 223 is located in a position surrounded by the front, rear, left, and right wheels 3 (the four wheels 3) in the work vehicle 1. Therefore, by placing the quantum compass 11 in the instrument panel 223, it is possible to place the quantum compass 11 in a position surrounded by the four wheels 3. In other words, according to the configuration of this embodiment, the quantum compass 11 can be placed as close as possible to the control point during autonomous driving, reducing errors in the vehicle's position measurement using the quantum compass 11 and enabling autonomous driving control. It should be noted that the control point during autonomous driving is, for example, the center of the four wheels 3.

[0119] In addition, the instrument panel 223 is often placed in the center of the vehicle body 2 in the left-right direction in the work vehicle 1. Therefore, if the quantum compass 11 is placed in the instrument panel 223, it is possible to obtain position information of the center of the vehicle body 2 in the left-right direction. As a result, it is possible to save time and effort in calibrating the position information obtained using the quantum compass 11, or eliminate error factors generated during calibration. As can be seen from this description, the quantum compass 11 is preferably placed on the bisector (center line) CL (see FIG. 1 ) that divides the work vehicle 1 into two equal parts in the left-right direction when viewed from above. Figure 2 )superior.

[0120] Furthermore, in the configuration where the quantum compass 11 is disposed on the instrument panel portion 223 , there is no need to dispose a positioning device on the upper end of the work vehicle 1 as in the conventional case of positioning using satellite information, and thus the height of the work vehicle 1 can be suppressed.

[0121] The quantum compass 11 is preferably placed inside the instrument panel 223 (interior space 223a). This configuration allows the quantum compass 11 to be placed in a location where it is less susceptible to splashing rain and mud, protecting the electronic component. Furthermore, this configuration allows the quantum compass 11 to be placed in a location that is difficult for people in the vehicle to reach, preventing people (such as the driver) riding in the passenger section 22 from accidentally coming into contact with the quantum compass 11. Furthermore, this configuration prevents the quantum compass 11 from being obstructed by the driver's field of view, as it is located in a location that is difficult to see from the outside. This prevents degradation of the aesthetic appearance of the interior of the passenger section 22. Furthermore, this configuration prevents the driver's field of view from being obstructed by the quantum compass 11.

[0122] As described above, the instrument panel cover 2231 constituting the instrument panel portion 223 is detachable. Therefore, even if the quantum compass 11 is disposed inside the instrument panel portion 223, the instrument panel cover 2231 can be removed to facilitate maintenance of the quantum compass 11.

[0123] In addition, the quantum compass 11 provided on the instrument panel 223 may be provided on the outside of the instrument panel 223 instead of being provided inside the instrument panel 223. In such a configuration, by providing a protective cover covering the quantum compass 11, the quantum compass 11 can be protected from rain, dust, etc. The protective cover is preferably a waterproof cover with waterproof measures implemented. Figure 6 In the configuration in which the quantum compass 11 is provided on the instrument panel 223 of the cab-type work vehicle 1A shown, the quantum compass 11 is not splashed with rainwater even if it is arranged outside the instrument panel 223 , and therefore a protective cover is not necessarily required.

[0124] Detailed example in Figure 24 As will be disclosed later, in this embodiment, the quantum compass 11 is disposed on or around the seat 221. It should be noted that the periphery of the seat 221 refers to the periphery of the seat 221 in the passenger compartment 22. In other words, the quantum compass 11 disposed on or around the seat 221 is disposed within the passenger compartment 22.

[0125] As described above, the riding portion 22 is provided with the vibration-proof member 10 (see Figure 5) and is supported by base portion 21, having a vibration-isolating structure. Specifically, quantum compass 11, located on or around seat portion 221, is located in a portion of work vehicle 1 that has a vibration-isolating structure. This prevents any reduction in the accuracy of position measurement by quantum compass 11 due to vibrations caused by the travel of work vehicle 1.

[0126] Furthermore, the seat portion 221 and its surroundings correspond to the position surrounded by the front, rear, left, and right wheels 3 (the four wheels 3) in the work vehicle 1. Therefore, by placing the quantum compass 11 in the seat portion 221 or its surroundings, the quantum compass 11 can be positioned in a position surrounded by the four wheels 3. In other words, according to the configuration of this embodiment, the quantum compass 11 can be positioned as close as possible to the control point during autonomous driving, thereby reducing errors in the vehicle's position measurement using the quantum compass 11 and enabling autonomous driving control. It should be noted that the control point during autonomous driving is, for example, the center of the four wheels 3.

[0127] It should be noted that the vehicle equipped with the quantum compass 11 is Figure 6 In the case of the cab-type work vehicle 1A shown, seat 221 or its surroundings can be located within the cab interior. Therefore, in the case of the cab-type work vehicle 1A, by disposing quantum compass 11 on or its surroundings, quantum compass 11, an electronic component, can be protected from rain, mud, exhaust fumes, and the like.

[0128] On the other hand, in the work vehicle 1 of this embodiment, the quantum compass 11 provided on or around the seat portion 221 can be positioned outside the work vehicle 1 where it is exposed to rainwater and the like. Thus, when the quantum compass 11 is exposed, a protective cover is preferably provided to cover the quantum compass 11 to protect it from rainwater and the like. The protective cover is preferably a waterproof cover that is waterproof.

[0129] The quantum compass 11 provided on or around the seat 221 is preferably located in a position that does not obstruct the driver's field of view and is difficult for the driver to see. The quantum compass 11 provided on or around the seat 221 is preferably located in a position that does not obstruct the driver and does not obstruct the appearance of the passenger compartment 22.

[0130] The quantum compass 11 provided on the seat portion 221 or its periphery is preferably arranged on a bisector (center line) CL (see FIG. 1 ) which divides the work vehicle 1 into two equal parts in the left-right direction when viewed from above. Figure 2 ). This reduces the positional offset of the quantum compass 11 relative to the control point during autonomous driving, and prevents the process of determining the vehicle's position using the quantum compass 11 from becoming complicated. In other words, the autonomous driving control process can be simplified.

[0131] Furthermore, the perimeter of the seat 221 is preferably located above the floor 2202. Specifically, the quantum compass 11 disposed around the seat 221 is preferably located above the floor 2202. Placing the quantum compass 11 above the floor 2202 improves maintainability of the quantum compass 11. However, the quantum compass 11 disposed around the seat 221 only needs to be located within the boarding section 22 and may also be located below the floor 2202.

[0132] Hereinafter, a method for disposing the quantum compass 11 including the disposition structure of the quantum compass 11 disposed between the floor 2202 and the power transmission unit 5 will be described by way of examples.

[0133] (5-2-1. First embodiment)

[0134] Figure 10A This is a side view schematically showing the configuration of the quantum compass 11 according to the first embodiment. Figure 10B 1 is a rear view schematically showing the configuration of the first embodiment of the quantum compass 11. Figure 10B In, omitted Figure 10A The lifting device 9 and the rear axle 214 are shown.

[0135] like Figure 10A and Figure 10B As shown, in the first embodiment, quantum compass 11 is supported by floor 2202. Specifically, quantum compass 11 is attached to the lower surface of floor 2202. More specifically, quantum compass 11 is attached to the lower surface of upper floor 2202b, where seating 221 is located. The method for attaching quantum compass 11 to floor 2202 is not particularly limited and may be achieved by using fasteners such as bolts or by bonding.

[0136] The boarding portion 22 includes a floor 2202. As described above, the boarding portion 22 is provided with a vibration-proof member 10 (see Figure 5 ) and is supported by base 21, thus having a vibration-isolating structure. Therefore, it can be said that floor 2202 also has a vibration-isolating structure. Specifically, in the structure of the first embodiment, quantum compass 11 is supported by floor 2202 having a vibration-isolating structure. Therefore, the structure of the first embodiment can suppress any reduction in the accuracy of position measurement by quantum compass 11 caused by travel vibrations of work vehicle 1.

[0137] It should be noted that, in the structure of the first embodiment, the quantum compass 11 is preferably arranged at the center of the upper floor 2202b in the left-right direction. Thus, the quantum compass 11 can be arranged on the left-right center line CL of the work vehicle 1 when viewed from above (see FIG. Figure 2As a result, the positional deviation of the quantum compass 11 relative to the control point during autonomous driving can be reduced, and the control process can be simplified.

[0138] In addition, as shown in the modified example of the first embodiment, Figure 11 As shown, the quantum compass 11 mounted on the floor 2202 may be covered by a cover member 14 made of, for example, a thin metal plate or resin. Specifically, the work vehicle 1 may be configured to include a cover member 14 covering the quantum compass 11. This enhances the ability to protect the quantum compass 11 from mud and water. It should be noted that the cover member 14 is preferably detachable from the floor 2202.

[0139] (5-2-2. Second embodiment)

[0140] Figure 12A This is a side view schematically showing the configuration of the quantum compass 11 according to the second embodiment. Figure 12B 1 is a rear view schematically showing the configuration of the second embodiment of the quantum compass 11. Figure 12B In, omitted Figure 12A The lifting device 9 and the rear axle 214 are shown.

[0141] like Figure 12A and Figure 12B As shown, in the second embodiment, as in the first embodiment, the quantum compass 11 is supported on the floor 2202. However, in the second embodiment, the quantum compass 11 is supported on the floor 2202 via a support member 13. The quantum compass 11 is supported on the floor 2202 while being attached to the support member 13.

[0142] By adopting a structure in which the quantum compass 11 is not directly attached to the floor 2202 but is indirectly attached to the floor 2202 via the support member 13, the degree of freedom in placement of the quantum compass 11 relative to the floor 2202 can be increased. In addition, the support strength of the quantum compass 11 can be increased.

[0143] In the second embodiment, the support member 13 includes a flat plate portion 131 on which the quantum compass 11 is mounted, and left and right arms 132 for attaching the flat plate portion 131 to the floor 2202. It should be noted that the quantum compass 11 can be attached to the flat plate portion 131 using fasteners such as bolts, adhesive bonding, or other methods. The flat plate portion 131 extends horizontally. The left and right arms 132 extend upward from the flat plate portion 131 and are attached to the floor 2202 using bolts 133. However, the shape of the support member 13 can differ from this structure and can be a simple flat plate, for example. Furthermore, the support member 13 can be attached to the floor 2202 without fasteners, but can be integrated with the floor 2202 through welding or other methods.

[0144] It should be noted that in this example, the quantum compass 11 may also be covered by a cover. In this case, the cover is preferably detachably mounted on the support member 13. Furthermore, the quantum compass 11 is preferably positioned in the left-right center of the upper floor 2202b when viewed from above.

[0145] (5-2-3. Third embodiment)

[0146] Figure 13 FIG. 1 is a rear view schematically showing the configuration of the third embodiment of the quantum compass 11. Figure 13 As shown, in the third embodiment, the quantum compass 11 is supported by a ride frame 2201 that constitutes the ride portion 22. It should be noted that, as described above, the ride frame 2201 supports the floor 2202. With this structure, the quantum compass 11 can be placed in a location protected from rain and mud, and can be placed at a suitable location between the floor 2202 and the power transmission unit 5.

[0147] Furthermore, as described above, since the riding section 22 has a vibration-isolating structure, it can be said that the riding section frame 2201 also has a vibration-isolating structure. Specifically, in the structure of the third embodiment, the quantum compass 11 is supported by the riding section frame 2201 having a vibration-isolating structure. Therefore, the structure of the third embodiment can suppress a decrease in the accuracy of position measurement by the quantum compass 11 caused by travel vibrations of the work vehicle 1.

[0148] exist Figure 13 In the example shown, the quantum compass 11 is supported on a passenger section bridge frame 2201b that is connected to a passenger section side frame 2201a extending in the left-right and up-down directions. It should be noted that the quantum compass 11 is preferably located in the center of the passenger section bridge frame 2201b in the left-right direction. Thus, when viewed from above, the quantum compass 11 can be located on the left-right center line CL of the work vehicle 1 (see FIG. 2 ). Figure 2 ) In addition, the method of mounting the quantum compass 11 to the boarding portion bridging frame 2201b may be, for example, a method using fasteners such as bolts, or bonding.

[0149] Figure 14 FIG. 1 is a diagram showing the configuration of the quantum compass, which is a first variation of the third embodiment. Figure 14 As shown, the quantum compass 11 supported on the riding part frame 2201 can also be arranged on either of the left and right riding part side frames 2201a. Figure 14 In the example shown, the quantum compass 11 is disposed on the left boarding section side frame 2201a.

[0150] In the configuration in which the quantum compass 11 is disposed on either of the left and right riding portion side frames 2201a, the quantum compass 11 is disposed on the center line CL in the left-right direction of the work vehicle 1 (see FIG. Figure 2 ) offset position. Therefore, for example, when the control point of the automatic driving is on the left-right center line CL of the work vehicle 1 in a bird's-eye view, it is necessary to correct the left-right position offset (position offset relative to the center line CL) for the position measured by the quantum compass 11 to determine the vehicle position.

[0151] Figure 15 FIG. 2 is a diagram showing a second variation of the configuration of the quantum compass relative to the third embodiment. Figure 15 As shown, the quantum compass 11 can be supported on either of the left and right passenger section side frames 2201a via the support member 13A. That is, the quantum compass 11 can also be configured to be supported on the passenger section frame 2201 via the support member 13A. By adopting such a structure in which the quantum compass 11 is indirectly attached to the passenger section frame 2201 via the support member 13A, the degree of freedom in the placement of the quantum compass 11 relative to the passenger section frame 2201 can be increased. Furthermore, the support strength of the quantum compass 11 can be increased. The quantum compass 11 can be attached to the support member 13A using, for example, fasteners such as bolts or adhesive bonding.

[0152] It should be noted that in Figure 13 In the case of the structure of the third embodiment shown, the quantum compass 11 may be supported by the passenger section bridge frame 2201b via a support member. Furthermore, in the case of the structure of the third embodiment and its variations (the first and second variations), the quantum compass 11 may be covered by a cover member. The cover member is preferably attachable to and detachable from the passenger section frame 2201 and the support member 13A.

[0153] (5-2-4. Fourth embodiment)

[0154] Figure 16 FIG. 1 is a rear view schematically showing the configuration of the quantum compass 11 according to the fourth embodiment. Figure 16 As shown, in the fourth embodiment, the quantum compass 11 is supported by a mounting portion 2201c provided in the riding portion 22. The mounting portion 2201c corresponds to a portion (mounting portion) of the riding portion 22 for mounting on the base portion 21 via the vibration-isolating member 10.

[0155] In the fourth embodiment, the quantum compass 11 can also be positioned at a suitable location between the floor 2202 and the power transmission unit 5. Furthermore, as described above, since the boarding section 22 has a vibration-isolating structure, the mounting portion 2201c can be said to also have a vibration-isolating structure. Specifically, in the fourth embodiment, the quantum compass 11 is supported by the mounting portion 2201c having the vibration-isolating structure. Therefore, the fourth embodiment suppresses any reduction in the accuracy of position measurement by the quantum compass 11 due to vibrations caused by the travel of the work vehicle 1.

[0156] It should be noted that the quantum compass 11 can be mounted on the mounting portion 2201c using, for example, fasteners such as bolts, adhesive bonding, or the like. Furthermore, in the fourth embodiment, the quantum compass 11 can be covered by a cover. The cover is preferably removable relative to the mounting portion 2201c.

[0157] (5-2-5. Fifth embodiment)

[0158] Figure 17 FIG. 5 is a side view schematically showing the configuration of the quantum compass 11 according to the fifth embodiment. Figure 17 As shown, in the fifth embodiment, the quantum compass 11 is supported by the power transmission unit 5. Specifically, the quantum compass 11 is attached to the upper surface of the transmission case 212. This configuration allows the quantum compass 11 to be positioned relatively low on the work vehicle 1, thereby reducing errors in positional accuracy that occur when the work vehicle 1 tilts. This allows for appropriate control of autonomous driving.

[0159] It should be noted that the method of mounting the quantum compass 11 to the gearbox 212 may be, for example, a method using fasteners such as bolts, bonding, etc. In addition, the quantum compass 11 supported by the power transmission unit 5 is preferably arranged on the left and right center lines CL of the work vehicle 1 when viewed from above (see FIG. Figure 2 ) on. This can reduce the positional offset of the quantum compass 11 relative to the control point during automatic driving, and can simplify the control process.

[0160] In addition, if Figure 18 As shown, the quantum compass 11 is preferably supported by the power transmission unit 5 via a support member 13B. By setting a structure in which the support member 13B is interposed, the degree of freedom of arrangement of the quantum compass 11 relative to the power transmission unit 5 can be increased. In addition, the support strength of the quantum compass 11 can be increased. It should be noted that Figure 18 This figure shows a modification of the fifth embodiment showing the arrangement of the quantum compass 11. The quantum compass 11 may be attached to the support member 13B by, for example, using fasteners such as bolts or by bonding.

[0161] exist Figure 18In the example shown, the supporting member 13B is shown as the lifting device 9. Figure 18 In the illustrated example, existing components are used as support member 13B. However, support member 13B may not utilize existing components, but may be a component provided for supporting quantum compass 11. The component (support member) provided specifically for supporting quantum compass 11 may be of any shape, such as a flat plate, and may be attached to transmission case 212 using welding or fasteners.

[0162] (5-2-6. Sixth embodiment)

[0163] Figure 19 This is a side view schematically illustrating the configuration of the sixth embodiment of the quantum compass 11. In the sixth embodiment, similar to the structure previously described as a variation of the fifth embodiment, the quantum compass 11 is supported by the power transmission unit 5 (specifically, the gearbox 212) via a support member 13C. However, the support member 13C differs from the fifth embodiment in that it includes a vibration-isolating member 13C2. This structure, interposed between the quantum compass 11 and the power transmission unit 5, suppresses the transmission of vibrations from the power transmission unit 5 to the quantum compass 11. This reduces the accuracy of position measurement by the quantum compass 11.

[0164] exist Figure 19 In the example shown, the quantum compass 11 has a mounting portion 111. The mounting portion 111 is mounted on the gearbox 212 via a support member 13C, thereby supporting the quantum compass 11 on the gearbox 212. The support member 13C includes: a frame portion 13C1, which is mounted on the upper surface of the gearbox 212 using a fixing member (bolts, etc.); and a vibration-isolating member 13C2, which is arranged on the upper surface of the frame portion C1. In detail, the vibration-isolating member 13C2 is a vibration-isolating rubber. Figure 19 In the illustrated example, the number of vibration-isolating members 13C2 is two, but this number may be changed to one or three or more. The presence of the vibration-isolating rubber 13C2 disposed vertically between the mounting portion 111 and the frame portion 13C1 suppresses the transmission of vibration from the transmission case 212 to the quantum compass 11.

[0165] Next, the arrangement structure of the quantum compass 11 provided on the instrument panel portion 223 will be described with reference to a specific embodiment.

[0166] (5-2-7. Seventh embodiment)

[0167] Figure 20 This is a diagram schematically showing the configuration of the quantum compass 11 according to the seventh embodiment. Figure 20 is with Figure 9 Same longitudinal section view.

[0168] exist Figure 20 In the seventh embodiment shown, the quantum compass 11 is supported by an instrument panel cover (cover member) 2231. By adopting a structure in which the quantum compass 11 is supported by the instrument panel cover 2231, it is possible to eliminate the need for a new support structure for the quantum compass 11. This allows the manufacturing cost of the work vehicle 1 to be kept low.

[0169] Specifically, the quantum compass 11 is mounted on the inner surface of the instrument panel cover 2231. Figure 20 In the illustrated example, the quantum compass 11 is positioned in the upper portion of the interior space 223a, but this position can be modified as appropriate. In other words, the quantum compass 11 can be mounted on the front or lower inner surface of the instrument panel cover 2231, rather than the upper inner surface. The method for mounting the quantum compass 11 to the instrument panel cover 2231 is not particularly limited and can be mounted using fasteners such as bolts or adhesive bonding.

[0170] It should be noted that the quantum compass 11 can be mounted on the outer surface of the instrument panel cover 2231. In this case, a protective cover can be appropriately provided to cover the quantum compass 11. The protective cover can be mounted on the instrument panel cover 2231.

[0171] (5-2-8. Eighth embodiment)

[0172] Figure 21A FIG1 is a cross-sectional view schematically showing the configuration of the quantum compass 11 according to the eighth embodiment. Figure 21B This is a longitudinal sectional view schematically showing the configuration of the quantum compass 11 according to the eighth embodiment.

[0173] like Figure 21A and Figure 21B As shown, in the eighth embodiment, the quantum compass 11 is supported on the instrument panel cover (cover member) 2231 via a support member 12A. By adopting a structure in which the quantum compass 11 is not directly attached to the instrument panel cover 2231 but is indirectly attached to the instrument panel cover 2231 via the support member 12A, the degree of freedom in the placement of the quantum compass 11 relative to the instrument panel cover 2231 can be increased. Furthermore, the support strength of the quantum compass 11 is improved.

[0174] In the eighth embodiment, the support member 12A has an inner space 223a (see Figure 9 ) has a beam-shaped structure extending in the left-right direction. The left end of the support member 12A is attached to the left sidewall of the instrument panel cover 2231. The right end of the support member 12A is attached to the right sidewall of the instrument panel cover 2231. The method of attaching the support member 12A to the instrument panel cover 2231 is not particularly limited and may be achieved by using fasteners such as bolts or by bonding.

[0175] The quantum compass 11 is mounted on the upper surface of the support member 12A. The method of mounting the quantum compass 11 to the support member 12A is not particularly limited and may be a method using a fixing member such as a bolt, or bonding. Figure 21A and Figure 21B In the illustrated example, quantum compass 11 is mounted on the upper surface of support member 12A, but it can also be mounted on the lower surface of support member 12A. Furthermore, support member 12A does not need to be a beam-shaped structure, and its structure can be modified as appropriate. For example, support member 12A can be a plate-shaped or arch-shaped member positioned between the wall forming instrument panel cover 2231 and quantum compass 11.

[0176] It should be noted that the quantum compass 11 supported by the instrument panel cover 2231 via a supporting member may also be disposed on the outer surface of the instrument panel cover 2231 .

[0177] (5-2-9. Ninth embodiment)

[0178] Figure 22 This is a diagram schematically showing the configuration of the quantum compass 11 according to the ninth embodiment. Figure 22 is with Figure 9 Same longitudinal section view.

[0179] exist Figure 22 In the ninth embodiment shown, the quantum compass 11 is supported by the air baffle 2203. By adopting a structure in which the quantum compass 11 is supported by the air baffle 2203, it is possible to eliminate the need for a new support structure for the quantum compass 11. This allows the manufacturing cost of the work vehicle 1 to be kept low.

[0180] Specifically, the quantum compass 11 is mounted on the rear surface of the air baffle 2203. The method of mounting the quantum compass 11 to the air baffle 2203 is not particularly limited, and may be a method using fasteners such as bolts, or bonding. Figure 22 In the example shown, the quantum compass 11 is disposed on the upper rear surface of the air baffle 2203. However, the attachment position of the quantum compass 11 to the rear surface of the air baffle 2203 may be changed as appropriate.

[0181] In this example, the quantum compass 11 is positioned within the instrument panel 223 (interior space 223a) by being disposed on the upper rear surface of the air baffle 2203. However, the quantum compass 11 may also be positioned below the rear surface of the air baffle 2203 and positioned outside the instrument panel 223 instead of inside. It should be noted that if the quantum compass 11 is positioned outside the instrument panel 223, a protective cover may be provided as appropriate.

[0182] (5-2-10. 10th embodiment)

[0183] Figure 23 This is a diagram schematically showing the configuration of the quantum compass 11 according to the tenth embodiment. Figure 23 is with Figure 9 Same longitudinal section view.

[0184] like Figure 23 As shown, in the tenth embodiment, the quantum compass 11 is supported by the air baffle 2203 via the support member 12A. By adopting a structure in which the quantum compass 11 is not directly attached to the air baffle 2203 but is indirectly attached to the air baffle 2203 via the support member 12A, the degree of freedom in the placement of the quantum compass 11 relative to the air baffle 2203 can be increased. Furthermore, the support strength of the quantum compass 11 is improved.

[0185] In the tenth embodiment, the support member 12A has an arched shape, comprising a vertically extending flat plate portion 121 for mounting the quantum compass 11, and upper and lower legs 122 for attaching the flat plate portion 121 to the air baffle 2203. The quantum compass 11 can be attached to the flat plate portion 121 using methods such as bolts or adhesive bonding. The legs 122 extend forward from the flat plate portion 121 and are attached to the air baffle 2203 using bolts or other fasteners (not shown).

[0186] However, the shape of the support member 12A may be different from this structure, and may be a simple flat plate, etc. In addition, the support member 12A may be mounted on the air baffle 2203 without using a fixing member, but may be integrated with the air baffle 2203 by welding or the like.

[0187] Hereinafter, the arrangement structure of the quantum compass 11 arranged on the seat portion 221 or its periphery will be described with reference to specific embodiments.

[0188] (5-2-11. Example 11)

[0189] Figure 24 FIG. 1 is a longitudinal sectional view schematically showing the configuration of the quantum compass 11 according to the eleventh embodiment. Figure 24 As shown, the seat portion 221 includes a seat portion 2211 having a seat surface 221a and a seat support portion 2212 that supports the seat portion 2211. It should be noted that in this example, the seat support portion 2212 is supported by the floor 2202 (upper floor 2202b). The seat portion 221 also includes a backrest portion 2213.

[0190] The seat surface 221a is the part on which the driver places his buttocks. The seat support portion 2212 can be a cylindrical platform that only supports the seat portion 2211, but it can also be another structure. For example, the seat support portion 2212 can also be composed of an adjustment mechanism for adjusting the position of the seat portion 2211 and an outer peripheral wall surrounding the adjustment mechanism. The adjustment mechanism can be a mechanism that can adjust at least one of the up and down directions and the front and back directions of the seat portion 2211. In the case where the adjustment mechanism is a structure that can adjust the position of the seat portion 2211 in the up and down direction, the outer peripheral wall is preferably composed of a stretchable component such as a rubber component that can be stretched up and down. The backrest portion 2213 is the portion that serves as the backrest for the driver sitting on the seat portion 2211.

[0191] In the 11th embodiment, as Figure 24 As shown, the quantum compass 11 is disposed between the seat surface 221a of the seat portion 221 and the floor 2202. In other words, the quantum compass 11 is disposed between the seat surface 221a and the upper surface of the floor 2202 in the vertical direction.

[0192] By placing the quantum compass 11 between the seat surface 221a and the floor 2202, the quantum compass 11 can be placed in a position that is difficult for the driver to see. Furthermore, this configuration allows the quantum compass 11 to be placed in a position that is difficult for the human eye to see, thereby preventing degradation of the aesthetic appearance of the riding section 22 due to the placement of the quantum compass 11. Furthermore, this configuration allows the quantum compass 11 to be placed as low as possible in the riding section 22. As a result, the amount of displacement of the quantum compass 11 when the vehicle body 2 tilts can be minimized, thereby preventing a decrease in the accuracy of position measurement by the quantum compass 11.

[0193] exist Figure 24 In the example shown, the quantum compass 11 is supported by the floor 2202. That is, the quantum compass 11 is positioned around the seating area 221. The quantum compass 11 can be mounted directly on the floor 2202 or indirectly via a supporting member. The method for mounting the quantum compass 11 to the floor 2202 or the supporting member is not particularly limited and can be mounted using methods such as bolts or adhesive bonding. Furthermore, the supporting member to which the quantum compass 11 is mounted can also be mounted to the floor 2202 using methods such as bolts or adhesive bonding. By supporting the quantum compass 11 on the floor 2202, securing mounting space is facilitated, making it easier to install the quantum compass 11. Furthermore, this structure provides stable support for the quantum compass 11.

[0194] like Figure 24As shown, the quantum compass 11 supported by the floor 2202 is preferably positioned within the perimeter of the seat support 2212. This prevents the driver from accidentally touching the quantum compass 11, thereby preventing the aesthetic appearance of the passenger compartment 22 from being deteriorated. Furthermore, this configuration prevents the quantum compass 11 from being splashed by rain or other substances, without requiring a protective cover.

[0195] In this example, the quantum compass 11 is positioned between the seat surface 221a and the floor 2202 and is positioned on the floor 2202. However, this is merely an example. The quantum compass 11 may also be positioned on the seat portion 221. For example, the quantum compass 11 may be supported by the seat support portion 2212. In this case, the quantum compass 11 can be positioned inside the seat support portion 2212. Furthermore, this configuration prevents rainwater and other substances from splashing onto the quantum compass 11 without requiring a protective cover. Furthermore, this configuration prevents the driver from accidentally touching the quantum compass 11, thereby preventing the aesthetic appearance of the passenger portion 22 from being deteriorated.

[0196] As mentioned above, the base support 2212 may include an adjustment mechanism for adjusting the position of the base 2211. In such cases, the base support 2212 includes a portion that is displaced by adjustment using the adjustment mechanism. If the quantum compass 11 is supported by the base support 2212 having such a displaced portion, it is preferable to position the quantum compass 11 so that the displaced portion is avoided.

[0197] (5-2-12. Example 12)

[0198] Figure 25 This is a schematic diagram for explaining the configuration of the quantum compass 11 according to the twelfth embodiment, and is an exploded view showing the seat portion 221 and its surroundings. Figure 26 This is a longitudinal sectional view schematically showing the configuration of the quantum compass 11 according to the twelfth embodiment. Figure 26 It is assembled Figure 25 A longitudinal cross-sectional view of the structure obtained after removing the elements 221, 225, and 2202 shown.

[0199] In the 12th embodiment, the work vehicle 1 includes a seat pan 227. The seat pan 227 is arranged on the floor 2202, and supports the seat portion 221. The seat pan 227 is provided to be detachable relative to the floor 2202. In detail, the seat pan 227 is arranged on the upper floor 2202b in a manner that covers a floor opening 2202d that passes through the upper floor 2202b in the up-down direction from the upper side. The floor opening 2202d is provided for the purpose of facilitating maintenance of components arranged below the floor 2202, such as hydraulic system piping. The seat pan 227 is detachably mounted on the upper floor 2202b using, for example, fasteners such as bolts. In Figure 25 and Figure 26 In the example shown, the seat pan 227 is in a rectangular box shape when viewed from above, but the shape of the seat pan 227 can be changed as appropriate. For example, the seat pan 227 may be in a simple plate shape.

[0200] In the twelfth embodiment, the quantum compass 11 is supported by the seat pan 227. With this configuration, as in the eleventh embodiment, the quantum compass 11 can be positioned between the seat surface 221a and the floor 2202, and around the seat portion 221. As a result, as in the eleventh embodiment, the quantum compass 11 can be positioned where it is less likely to enter the driver's field of vision, and the placement of the quantum compass 11 can prevent degradation of the aesthetic appearance of the passenger compartment 22. Furthermore, with this configuration, the quantum compass 11 can be positioned as low as possible within the passenger compartment 22, minimizing displacement of the quantum compass 11 when the vehicle body 2 tilts.

[0201] It should be noted that the method for attaching the quantum compass 11 to the seat pan 227 is not particularly limited and may be achieved by using fasteners such as bolts or by bonding. Alternatively, the quantum compass 11 may be attached to the seat pan 227 via a supporting member. Similarly to the 11th embodiment, in the twelfth embodiment, the quantum compass 11 supported by the seat pan 227 is preferably positioned within the outer peripheral wall of the seat support portion 2212.

[0202] (5-2-13. Thirteenth embodiment)

[0203] Figure 27 FIG. 1 is a longitudinal sectional view schematically showing the configuration of the quantum compass 11 according to the 13th embodiment. Figure 27 As shown, in the thirteenth embodiment, the quantum compass 11 is positioned behind the seat 221. This configuration allows the quantum compass 11 to be positioned out of sight of the driver seated on the seat 221, thereby ensuring that the driver's field of vision is not obstructed. It should be noted that in this example, the quantum compass 11 is also positioned around the seat 221.

[0204] Specifically, the quantum compass 11 is positioned between the seat 221 and the passenger compartment rear wall 2204 (in the front-to-back direction). The quantum compass 11 is positioned between the rear surface of the seat 221 and the front surface of the passenger compartment rear wall 2204. The rear surface of the seat 221 is comprised of the rear surface of the backrest 2213 and the rear surface of the seat support 2212. This allows the quantum compass 11 to be positioned effectively in the space between the seat 221 and the passenger compartment rear wall 2204.

[0205] More specifically, the quantum compass 11 is supported on the passenger section rear wall 2204 via the support member 12A. This allows the quantum compass 11 to be installed in a relatively large space behind the seating section 221, making installation of the quantum compass 11 easier. Furthermore, this structure allows for stable support of the quantum compass 11 without requiring a new, robust support structure. In this embodiment, the quantum compass 11 is indirectly mounted on the passenger section rear wall 2204 via the support member 12A, but the quantum compass 11 may also be directly mounted on the passenger section rear wall 2204. The mounting of the quantum compass 11 to the support member 12A and the mounting of the support member 12A to the passenger section rear wall 2204 are not particularly limited, and may be achieved by, for example, fasteners such as bolts or adhesive bonding.

[0206] In this example, support member 12A also functions as a protective cover to prevent rainwater from splashing onto quantum compass 11. However, a protective cover may be provided separately from support member 12A. Furthermore, in cases where rainwater does not splash onto quantum compass 11, such as in the case of a cab-type work vehicle 1A, the protective cover may not be provided.

[0207] It should be noted that the quantum compass 11 disposed between the seat section 221 and the riding section rear wall 2204 in the front-to-rear direction may be supported by the floor 2202 or the seat section 221 instead of by the riding section rear wall 2204 .

[0208] (5-2-14. Fourteenth embodiment)

[0209] Figure 28 This is a schematic diagram for explaining the configuration of the quantum compass 11 according to the fourteenth embodiment. Figure 28 The right side wall 2205 (see FIG. 220 ) of the boarding section 22 (boarding base 220 ) is formed when viewed from the right side (from the seat 221 side). Figure 2 and Figure 3 ). Figure 28 (See also Figure 2), a side cover 226 is detachably mounted on the right side wall 2205 of the riding portion. Specifically, the side cover 226 functions as a rod guide that guides the movement of a rod (not shown) provided on the right side of the seat portion 221.

[0210] Figure 29 yes Figure 28 A schematic cross-sectional view of the XIII-XIII position. Figure 29 As shown, in the fourteenth embodiment, the quantum compass 11 is disposed in the space IS defined between the side cover 226 and the right sidewall 2205 of the passenger compartment. The quantum compass 11 is disposed in the internal space IS formed by attaching the side cover 226 to the right sidewall 2205 of the passenger compartment. It should be noted that, in this embodiment, the quantum compass 11 is disposed on the right side of the seat 221 (an example of the periphery of the seat 221). However, the same internal space IS may be provided on the left side of the seat 221, and the quantum compass 11 may be disposed on the left side of the seat 221.

[0211] By placing the quantum compass 11 in the interior space IS formed by attaching the side covers 226 to the passenger compartment sidewalls 2205, the quantum compass 11 can be placed in a location where it is less likely to be splashed by rainwater, mud, etc. Furthermore, this configuration allows the quantum compass 11 to be placed out of sight of the driver seated in the seat 221, resulting in a structure that does not obstruct the driver's field of vision. Furthermore, this configuration prevents the placement of the quantum compass 11 from detracting from the aesthetic appearance of the passenger compartment 22. Furthermore, with this configuration, the wiring harness (not shown) connected to the quantum compass 11 can also be concealed by the side covers 226. Furthermore, by attaching the quantum compass 11 to the passenger compartment sidewalls 2205, the quantum compass 11 can be stably supported without requiring a new, robust support structure.

[0212] In this example, the quantum compass 11 is located on the left side of the right passenger compartment sidewall 2205. However, the quantum compass 11 may also be located elsewhere, such as on the upper or front surface of the right passenger compartment sidewall 2205. The quantum compass 11 is preferably located in a position visible from above, from the front, or from the side (in this example, from the left side) when the side cover 226 is removed. This configuration allows for easy installation and disassembly of the quantum compass 11 and maintenance by removing the side cover 226. Alternatively, the quantum compass 11 may be located on the inner surface of the side cover 226, rather than on the right passenger compartment sidewall 2205.

[0213] The quantum compass 11 can be mounted directly on the right side wall 2205 or via a support member. These mounting methods are not particularly limited, and for example, bolts or other fasteners, bonding, etc. may be used.

[0214] (5-2-15. Fifteenth embodiment)

[0215] Figure 34 FIG1 is a side view schematically showing the configuration of the quantum compass 11 according to the fifteenth embodiment. Figure 35 This is a front view schematically showing the configuration of the quantum compass 11 according to the fifteenth embodiment. Figure 34 It is a schematic side view of the cab 22 . Figure 35 This is a diagram showing the periphery of the roof 225 as viewed from the front (front side).

[0216] In the fifteenth embodiment, the quantum compass 11 is supported by the cab frame 2201. This configuration allows the quantum compass 11 to be supported by a highly rigid member. It should be noted that the quantum compass 11 can be supported directly or indirectly by the cab frame 2201.

[0217] In this embodiment, the quantum compass 11 is mounted on the cab frame 2201 via a support member 12A. That is, the quantum compass 11 is indirectly supported by the cab frame 2201. By interposing the support member 12A, the degree of freedom in the layout of the quantum compass 11 when mounted in the cab 22 can be increased.

[0218] In this embodiment, if Figure 34 and Figure 35 As shown, the support member 12A includes a frame portion 121, a pair of left and right pedestals 122, and a central plate portion 123. The frame portion 121 includes a rod-shaped portion 121a extending in the left-right direction, and legs 121b provided at the left and right ends of the rod-shaped portion 121a and extending downward. The pair of left and right pedestals 122 are respectively fixed to the left and right ends of the upper front end of the cab frame 2201. By fixing the left and right legs 121b to the pedestals 122, the frame portion 121 is erected in an inverted U-shape at the upper front portion of the cab 22. The central plate portion 123 is fixed to the upper side of the central portion of the rod-shaped portion 121a in the left-right direction. It should be noted that the structure of the support member 12A described above is merely an example and can be modified as appropriate.

[0219] The quantum compass 11 is mounted on the support member 12A in a state of being housed in the housing 13. Figure 34 、 Figure 35In the figure, since the quantum compass 11 is housed in the housing 13 and is not normally visible, it is represented by dashed lines. This representation of the quantum compass 11 is sometimes used in other figures. The housing 13 is preferably waterproof, preventing water from entering the interior. Furthermore, for reasons of maintenance, the housing 13 preferably has an openable and closable cover. By housing the quantum compass 11 in the housing 13, the quantum compass 11, which is located outside the cab 22, can be protected from rain and other influences.

[0220] Specifically, the housing 13 housing the quantum compass 11 is fixed to the upper surface of the central plate 123. The housing 13 is preferably fixed to the central plate 123 using a removable fastener such as a bolt. The housing 13 housing the quantum compass 11 is positioned above the front portion of the cab 22. Furthermore, the housing 13 housing the quantum compass 11 is positioned in the center of the vehicle in the left-right direction when viewed from above.

[0221] As can be seen from the above description, in this embodiment, the quantum compass 11 is positioned in the center of the vehicle in the left-right direction when viewed from above. Furthermore, the quantum compass 11 is positioned in front of the cab 22. Therefore, when viewed from above, the quantum compass 11 can be positioned near a control point during autonomous driving (e.g., the center of the four wheels 3), which can minimize the complexity of determining the vehicle's position using the quantum compass 11.

[0222] Furthermore, in this embodiment, the quantum compass 11 is positioned above the cab frame 2201. This configuration prevents the driver and other passengers from accidentally coming into contact with the quantum compass 11. It should be noted that while the quantum compass 11 is positioned outside the cab 22, it is housed in the housing 13 and is therefore less susceptible to rain, dust, and other influences.

[0223] (5-2-16. Sixteenth embodiment)

[0224] Figure 36 FIG1 is a side view schematically showing the configuration of the quantum compass 11 according to the sixteenth embodiment. Figure 37 This is a front view schematically showing the configuration of the quantum compass 11 according to the sixteenth embodiment. Figure 36 It is a schematic side view of the cab 22 . Figure 37 This figure shows the periphery of the roof 225 as viewed from the front. In the sixteenth embodiment, the quantum compass 11 is also housed in the housing 13 and positioned above the front portion of the cab 22 (cab frame 2201), similar to the fifteenth embodiment. In describing the sixteenth embodiment, descriptions of details common to the fifteenth embodiment will be omitted as much as possible.

[0225] In the sixteenth embodiment, the quantum compass 11 is supported on the roof 225. It should be noted that the roof 225 refers to the roof portion (roof portion) of the cab 22. By having the quantum compass 11 supported on the roof 225, it is possible to prevent the driver and other passengers from accidentally coming into contact with the quantum compass 11. The roof 225 is attached to the cab frame 2201.

[0226] It should be noted that in this embodiment, the quantum compass 11 supported on the roof 225 is located outside the cab 22. However, it can also be located inside the cab 22, an example of which will be described later. Furthermore, in this embodiment, the quantum compass 11 is located at the front of the roof 225. However, this is merely an example, and the quantum compass 11 can also be located at other locations on the roof 225, such as the center. However, placing the quantum compass 11 at the front of the roof 225 offers the advantage of being positioned near a control point during autonomous driving (e.g., the center of each of the four wheels 3) when viewed from above.

[0227] The quantum compass 11 can be supported directly or indirectly on the roof 225. However, in this embodiment, the quantum compass 11 is indirectly supported on the roof 225. The quantum compass 11 is supported on the roof 225 via the support member 12A. This increases the degree of freedom in the layout when the quantum compass 11 is mounted on the cab 22.

[0228] In this embodiment, if Figure 36 and Figure 37 As shown, the support member 12A includes a pair of left and right support pieces 124 and a rectangular plate-shaped mounting plate 125 extending in the left-right direction. The pair of left and right support pieces 124 are oriented relative to the center line CL (refer to FIG. 1 ) that bisects the work vehicle 1 in the left-right direction when viewed from above. Figure 2 ) are symmetrically arranged. The lower end of each support piece 124 is fixed to the roof 225 and extends upward from the roof 225. The mounting plate portion 125 is fixed to each upper end of the left and right pair of support pieces 124. It should be noted that the structure of the support member 12A described above is merely an example and can be modified as appropriate.

[0229] The quantum compass 11 is mounted on the support member 12A while housed in the housing 13. Specifically, the housing 13 housing the quantum compass 11 is fixed to the upper surface of the mounting plate 125. The housing 13 is preferably secured to the mounting plate 125 using a removable fastener such as bolts. The quantum compass 11 is positioned in the center of the vehicle in the left-right direction when viewed from above.

[0230] (5-2-17. Seventeenth embodiment)

[0231] Figure 38This is a front view schematically showing the configuration of the quantum compass 11 according to the seventeenth embodiment. Figure 39 is Figure 38 It should be noted that, Figure 38 This figure shows the periphery of the roof 225 as viewed from the front. In the seventeenth embodiment, the quantum compass 11 is also housed in the housing 13 and is located above the front portion of the cab 22 (cab frame 2201), similar to the fifteenth and sixteenth embodiments. In describing the seventeenth embodiment, descriptions of matters common to the fifteenth and sixteenth embodiments will be omitted as much as possible.

[0232] In the seventeenth embodiment, the structure of the support member 12B, to which the housing 13 housing the quantum compass 11 is attached, is substantially the same as that of the sixteenth embodiment. The support member 12B comprises a pair of left and right support pieces 124B and a rectangular mounting plate 125B extending in the left-right direction. However, in the seventeenth embodiment, unlike the sixteenth embodiment, the support pieces 124B are not fixed to the roof 225 but are instead fixed to the cab frame 2201, at least a portion of which is located below the upper surface of the roof 225. This configuration allows the support member 12B to be attached to a highly rigid member, thereby firmly supporting the quantum compass 11.

[0233] It should be noted that, in the present embodiment, the support piece 124B is directly mounted on the cab frame 2201 , but the support piece 124B may be mounted on a mounting seat mounted on the cab frame 2201 .

[0234] In addition, in this embodiment, in order to allow the support piece 124B to pass through the upper surface of the roof 225, an opening 225a is provided on the upper surface of the roof 225. In order to prevent water, dust, etc. from entering the inner side of the cab 22 through the opening 225a, as shown in FIG. Figure 39 As shown in FIG. 1 and FIG. 2 , it is preferable that the grommet 126 is disposed in the opening 225a. It should be noted that the grommet 126 is preferably a waterproof grommet having at least a waterproof function.

[0235] (5-2-18. Eighteenth embodiment)

[0236] Figure 40 It is a top view schematically showing the configuration of the quantum compass 11 according to the fourteenth embodiment. Figure 41 is Figure 40 It should be noted that, Figure 40This figure shows the roof 225 as viewed from above. In the 18th embodiment, the quantum compass 11 is also housed in the housing 13 and positioned outside the cab 22, similar to the 15th, 16th, and 17th embodiments. Furthermore, in the 18th embodiment, the quantum compass 11 is supported on the roof 225, similar to the 16th embodiment. In describing the 18th embodiment, descriptions of matters common to the 15th through 17th embodiments will be omitted as much as possible.

[0237] In this embodiment, the roof 225 has a concave portion 225c on its upper surface 225b that is concave downward. The housing 13 containing the quantum compass 11 is disposed in the concave portion 225c. Figure 41 As shown, the housing 13 disposed in the recess 225 c may be fixed to the roof 225 directly or by means of a mounting seat provided in the recess 225 c.

[0238] In this embodiment, since the housing 13 is disposed in the recess 225c, at least a portion of the quantum compass 11 supported on the roof 225 is disposed below the upper surface 225b of the roof 225. Figure 41 In the example shown, a portion of the quantum compass 11 is positioned lower than the upper surface 225b of the roof 225. However, the entire quantum compass 11 may be positioned lower than the upper surface 225b of the roof 225. This configuration allows the height of the work vehicle 1 to be reduced when the quantum compass 11 is positioned on the roof 225.

[0239] It should be noted that the recess 225c is preferably provided in the center portion of the roof 225 in the left-right direction. Furthermore, the recess 225c is preferably provided as close to the front side of the roof 225 as possible. Furthermore, in this embodiment, the recess 225c is provided on the upper surface 225b of the roof 225. However, a configuration in which an opening extending vertically through the roof 225 is provided in place of the recess 225c is also possible. In this case, a mounting seat for mounting the housing 13 will need to be provided on the roof 225.

[0240] (5-2-19. 19th embodiment)

[0241] Figure 42 It is a cross-sectional view schematically showing the configuration of the quantum compass 11 according to the nineteenth embodiment. Figure 42 This is a longitudinal cross-sectional view of the roof 225. In the 15th to 18th embodiments, the quantum compass 11 is configured to be located outside the cab 22. Unlike these embodiments, in the 19th embodiment, the quantum compass 11 is located inside the cab 22. It should be noted that in describing the 19th embodiment, the description of the contents common to the 15th to 18th embodiments will be omitted as much as possible.

[0242] like Figure 42 As shown, the quantum compass 11 is located inside the roof 225. Specifically, the roof 225 includes an outer roof 2251 and an inner roof 2252. The quantum compass 11 is located between the outer roof 2251 and the inner roof 2252. By placing the quantum compass 11 inside the roof 225, it can be protected from rain and other influences, even without being housed in a housing. Furthermore, it can prevent passengers, such as the driver, from accidentally coming into contact with the quantum compass 11. Furthermore, the quantum compass 11 can be placed out of sight, enhancing the aesthetic appearance of the cab 22.

[0243] It should be noted that the outer roof 2251 constitutes the outer surface of the cab 22. Specifically, the outer roof 2251 constitutes the upper surface of the cab 22. The inner roof 2252 is spaced apart below the outer roof 2251. The inner roof 2252 constitutes the inner surface of the cab 22. Specifically, the inner roof 2252 constitutes the ceiling of the interior formed by the cab 22. The outer roof 2251 and the inner roof 2252 are attached to the cab frame 2201. It should be noted that the roof 225 shown in the 15th to 18th embodiments may also include an outer roof and an inner roof.

[0244] The quantum compass 11 is preferably supported by a support member provided on at least one of the outer roof 2251 and the inner roof 2252. This improves the mounting strength of the quantum compass 11. In this embodiment, the quantum compass 11 is supported by a support member 12C provided on the outer roof 2251.

[0245] The support member 12C includes a U-shaped support body 127 in cross-section, and fixing portions 128 extending outward in the left and right directions from the left and right upper ends of the support body 127. The support member 12C is attached to the outer roof 2251 by fixing the left and right fixing portions 128 to the lower surface of the outer roof 2251. The support member 12C can be fixed to the outer roof 2251 using, for example, bolts or other fasteners. The quantum compass 11 is fixed to the upper surface of the support body 127 using, for example, bolts or other fasteners or adhesive bonding.

[0246] It should be noted that the structure of the support member 12C is merely an example and can be modified as appropriate. Furthermore, the quantum compass 11 disposed inside the roof 225 is preferably located in the center portion of the work vehicle 1 in the left-right direction. Furthermore, the quantum compass 11 disposed inside the roof 225 is preferably located as close to the front side of the roof 225 as possible.

[0247] (5-2-20. 20th embodiment)

[0248] Figure 43 This is a cross-sectional view schematically showing the configuration of the quantum compass 11 according to the 20th embodiment. Figure 43 is a longitudinal sectional view of the roof 225. In the 20th embodiment, as in the 19th embodiment, the quantum compass 11 is disposed inside the roof 225. It should be noted that in describing the 20th embodiment, descriptions of the contents common to the 15th to 19th embodiments will be omitted as much as possible.

[0249] like Figure 43 As shown, in this embodiment, the quantum compass 11 is also positioned vertically between the outer roof 2251 and the inner roof 2252 via a support member 12D, similar to the 19th embodiment. However, in this embodiment, unlike the 19th embodiment, the support member 12D is not supported by the roof 225 but by the cab frame 2201. In other words, the quantum compass 11 is supported by the cab frame 2201 within the roof 225. This configuration allows the quantum compass 11 to be supported by a member having higher rigidity than the roof 225, providing a secure support for the quantum compass 11.

[0250] Specifically, the support member 12D extends in the left-right direction, with its left and right ends fixed to the cab frame 2201. This fixation can be achieved, for example, by using fasteners such as bolts. For example, the support member 12D can be fixed to the cab frame 2201 together with the outer roof 2251 using the same bolts. The support member 12D is a so-called beam-like member and can also be called a beam bracket. The quantum compass 11 is fixed to the lower surface of the support member 12D using fasteners such as bolts or adhesive bonding, for example. It should be noted that the structure of the support member 12D is merely an example and can be modified as appropriate. For example, the support member 12D can be formed into the same shape as the support member 12C of the nineteenth embodiment. In this case, the quantum compass 11 can be fixed to the upper surface of the support member.

[0251] <6. Other Implementation Methods>

[0252] Next, embodiments different from the above-described embodiments will be described. When describing other embodiments, descriptions of contents overlapping with the above-described embodiments will be omitted as much as possible.

[0253] In the embodiment described above, the quantum compass 11 is configured to be installed in the cab 22. However, some work vehicles 1 may not include the cab 22.

[0254] Figure 44 It is a side view showing a schematic structure of a work vehicle 1A according to another embodiment. Figure 44The work vehicle 1A shown is also a tractor. Work vehicle 1A includes a vehicle body 2A and wheels 3A. Vehicle body 2A has a base portion 21A, which includes a transmission, and a passenger compartment 22A supported by base portion 21A. Passenger compartment 22A is provided with a seat 221A, a steering wheel 222A, and other components. Passenger compartment 22A does not constitute a room and is exposed to the outside of the vehicle.

[0255] The riding section 22A is provided with a rope frame 7 positioned behind the seat section 221A. The rope frame 7 has a door-like shape (an inverted U-shape) when viewed from the front. The rope frame 7 protects the driver in the event of a tipping over of the work vehicle 1A. Like the seat section 221A, the rope frame 7 is supported by the frame members that comprise the riding section 22A.

[0256] In this embodiment, the quantum compass 11 is provided on the rope frame 7. The quantum compass 11 is supported by the rope frame 7. The quantum compass 11 may be directly mounted on the rope frame 7, or it may be indirectly mounted on the rope frame 7. In this embodiment, the quantum compass 11 is preferably mounted on the rope frame 7 while being housed in a housing 13, which serves as a waterproof housing. Specifically, the housing 13 housing the quantum compass 11 is mounted to the upper frame of the door-shaped rope frame 7 via a support member 12E. Furthermore, the housing 13 is mounted on the rope frame 7 so that the quantum compass 11 is located in the center of the work vehicle 1 in the left-right direction. It should be noted that the mounting location of the housing 13 in the rope frame 7 is not limited to that in this embodiment and may be modified as appropriate.

[0257] <7. Notes, etc.>

[0258] Various technical features disclosed in this specification can be modified in various ways without departing from the spirit of the technical creation. In addition, the multiple embodiments, examples, and modifications shown in this specification can be combined and implemented within the possible range.

[0259] <8. Notes>

[0260] An exemplary work vehicle of the present invention may have the following structure (1st structure), comprising: a passenger section having a floor; a power transmission section disposed below the floor; and a quantum compass disposed between the floor and the power transmission section. Alternatively, an exemplary work vehicle of the present invention may have the following structure (10th structure), comprising: an instrument panel disposed in front of the passenger section; and a quantum compass disposed on the instrument panel. Furthermore, an exemplary work vehicle of the present invention may have the following structure (17th structure), comprising: a passenger section having a floor; a seat supported by the floor; and a quantum compass disposed on or around the seat. Furthermore, an exemplary work vehicle of the present invention may have the following structure (27th structure), comprising: a cab; and a quantum compass disposed in the cab.

[0261] The work vehicle having the first structure may have a structure (second structure) in which the quantum compass is supported by the floor.

[0262] The work vehicle having the second configuration may have a configuration (third configuration) in which the quantum compass is supported on the floor via a supporting member.

[0263] The work vehicle having the first configuration may have a configuration (fourth configuration) in which the quantum compass is supported by a riding section frame constituting the riding section.

[0264] The work vehicle of the fourth configuration may have a configuration (fifth configuration) in which the quantum compass is supported by the riding portion frame via a supporting member.

[0265] The work vehicle of any one of the first to fifth structures may have a structure (sixth structure) including a base portion that supports the riding portion via a vibration-isolating member.

[0266] The work vehicle having the first configuration may have a configuration (seventh configuration) in which the quantum compass is supported by the power transmission unit via a supporting member.

[0267] The work vehicle of the seventh configuration may have a configuration (eighth configuration) in which the support member includes a vibration-isolating member.

[0268] The work vehicle according to any one of the first to eighth structures may have a structure (ninth structure) including a cover member covering the quantum compass.

[0269] The work vehicle of the tenth configuration may have a configuration (eleventh configuration) in which the instrument panel portion includes a cover member, and the quantum compass is supported by the cover member.

[0270] The work vehicle according to the eleventh configuration may have a configuration (twelfth configuration) in which the quantum compass is supported by the cover member via a supporting member.

[0271] The work vehicle of the tenth configuration may have a configuration (thirteenth configuration) in which the instrument panel portion includes a riding section front wall at the front portion, and the quantum compass is supported by the riding section front wall.

[0272] The work vehicle of the thirteenth configuration may have a configuration (fourteenth configuration) in which the quantum compass is supported by the riding section front wall via a supporting member.

[0273] The work vehicle according to any one of the tenth to fourteenth configurations may have a configuration (fifteenth configuration) in which the quantum compass is disposed inside the instrument panel.

[0274] The work vehicle according to any one of the tenth to fifteenth structures may have a structure (a sixteenth structure) including a base portion supporting the riding portion via a vibration-isolating member.

[0275] The work vehicle of the seventeenth configuration may have a configuration (eighteenth configuration) in which the periphery of the seat portion is located above the floor.

[0276] The work vehicle according to the seventeenth or eighteenth configuration may have a configuration (a nineteenth configuration) in which the quantum compass is disposed between a seat surface of the seat portion and the floor.

[0277] Based on the above-mentioned work vehicle of the 19th structure, it can be the following structure (the 20th structure), wherein the seat portion includes: a seat portion having the seat surface; and a seat support portion that supports the seat portion, and the quantum compass is supported by the seat support portion.

[0278] The work vehicle of the nineteenth configuration may have a configuration (twenty-first configuration) including a seat pan that is disposed on the floor and supports the seat portion, wherein the quantum compass is supported by the seat pan.

[0279] The work vehicle according to any one of the seventeenth to nineteenth structures may have a structure (twenty-second structure) in which the quantum compass is supported by the floor.

[0280] The work vehicle according to the seventeenth or eighteenth configuration may have a configuration (a twenty-third configuration) in which the quantum compass is disposed behind the seat portion.

[0281] The work vehicle of the above-mentioned structure 23 may have the following structure (structure 24), wherein the riding portion has a riding portion rear wall arranged behind the seat portion, and the quantum compass is arranged between the seat portion and the riding portion rear wall.

[0282] The work vehicle according to the twenty-fourth configuration may have a configuration (a twenty-fifth configuration) in which the quantum compass is supported by the rear wall of the riding section via a supporting member.

[0283] The work vehicle according to any one of the seventeenth to twenty-fifth structures may have a structure (twenty-sixth structure) including a base portion that supports the riding portion via a vibration-isolating member.

[0284] The work vehicle of the twenty-seventh structure may have a structure (the twenty-eighth structure) including a cab frame constituting the cab, wherein the quantum compass is supported by the cab frame.

[0285] The work vehicle according to the twenty-eighth configuration may have a configuration (a twenty-ninth configuration) in which the quantum compass is attached to the cab frame via a supporting member.

[0286] The work vehicle according to the twenty-eighth or twenty-ninth structure may have a structure (a thirty-second structure) in which the quantum compass is disposed above the cab frame.

[0287] The work vehicle according to the twenty-seventh configuration may have a configuration (a thirty-first configuration) in which the cab has a roof, and the quantum compass is supported by the roof.

[0288] The work vehicle according to the thirty-first configuration may have a configuration (a thirty-second configuration) in which the quantum compass is disposed on a front portion of the roof.

[0289] The work vehicle of the thirty-first or thirty-second configuration may have a configuration (a thirty-third configuration) in which at least a portion of the quantum compass is disposed below an upper surface of the roof.

[0290] The work vehicle according to any one of the 31st to 33rd structures may have a structure (34th structure) in which the quantum compass is arranged inside the roof.

[0291] Based on the work vehicle of any one of the above-mentioned structures 31 to 34, it can be the following structure (structure 35), wherein the roof has an outer roof and an inner roof, and the quantum compass is supported by a supporting component provided on at least one of the outer roof and the inner roof.

[0292] The work vehicle according to any one of the above-mentioned structures 27 to 29 may have the following structure (structure 36), wherein the cab has a cab frame and a roof, and the quantum compass is supported on the cab frame inside the roof.

[0293] The work vehicle according to any one of the 27th to 36th configurations may have a configuration (37th configuration) in which the quantum compass is disposed in the center of the vehicle in the left-right direction when viewed from above.

[0294] Description of Reference Numerals

[0295] 1. 1A: Work vehicle; 5: Power transmission unit; 10. 13C2: Vibration-isolating component; 11: Quantum compass; 12A, 12B, 12C, 12D, 12E, 13. 13A, 13B, 13C: Support component; 14: Cover component; 21: Base portion; 22. 22A: Passenger section; 221: Seat section; 221a: Seat surface; 223: Instrument panel section; 225: Roof; 227: Seat pan; 2201. 2201A: Passenger section frame; 2202. 2202A: Floor; 2203: Passenger section front wall (air baffle); 2204. 2204A: Passenger section rear wall; 2211: Seat; 2212: Seat section support portion; 2231: Instrument panel cover (cover component); 2251: Outer roof; 2252: Inner roof.

Claims

1. A work vehicle, wherein: The work vehicle has: an instrument panel portion disposed at the front portion of the passenger compartment; and A quantum compass is provided on the instrument panel.

2. The work vehicle according to claim 1, wherein: The instrument panel portion has a cover member, The quantum compass is supported by the cover member.

3. The work vehicle according to claim 2, wherein: The quantum compass is supported by the cover member via a supporting member.

4. The work vehicle according to claim 1, wherein: The instrument panel portion has a front wall of the boarding portion at the front. The quantum compass is supported on the front wall of the riding section.

5. The work vehicle according to claim 4, wherein: The quantum compass is supported on the front wall of the boarding section via a supporting member.

6. The work vehicle according to claim 1, wherein: The quantum compass is disposed inside the instrument panel.

7. A working vehicle, wherein: The work vehicle has: a passenger portion having a floor; a seat portion supported on the floor; as well as A quantum compass is arranged on the seat portion or its periphery.

8. The work vehicle according to claim 7, wherein: The periphery of the seat portion is located above the floor.

9. The work vehicle according to claim 7, wherein: The quantum compass is arranged between the seat surface of the seat portion and the floor.

10. The work vehicle according to claim 9, wherein: The work vehicle includes a seat pan disposed on the floor and supporting the seat portion. The quantum compass is supported on the seat chassis.

11. The work vehicle according to claim 7, wherein: The quantum compass is supported on the floor.

12. The work vehicle according to claim 7, wherein: The work vehicle includes a base portion that supports the riding portion via a vibration-isolating member.

13. A work vehicle, wherein: The work vehicle has: the cab; and A quantum compass is provided in the cockpit.

14. The work vehicle according to claim 13, wherein: The work vehicle includes a cab frame constituting the cab. The quantum compass is supported on the cab frame.

15. The work vehicle according to claim 14, wherein: The quantum compass is mounted on the cab frame via a supporting member.

16. The work vehicle according to claim 13, wherein: The cab has a roof, The quantum compass is supported on the roof.

17. The work vehicle according to claim 16, wherein: The quantum compass is arranged on the front portion of the roof.

18. The work vehicle according to claim 16, wherein: The quantum compass is arranged inside the roof.

19. The work vehicle according to claim 13, wherein: The cab has a cab frame and a roof, The quantum compass is supported on the cab frame inside the roof.

20. The work vehicle according to claim 13, wherein: The quantum compass is disposed in the center of the vehicle in the left-right direction when viewed from above.

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