Work vehicle

Abstract

The invention relates to a work vehicle. Provided is a technique suitable for a work vehicle provided with a positioning device. An exemplary work vehicle is provided with: a travel unit having rear wheels; a rear axle box which supports the rear wheels; and a quantum compass disposed around the rear axle box.

Description

Technical Field

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

[0002] Conventionally, work vehicles are known that have the ability to acquire their own vehicle's location information for purposes such as autonomous driving, recording work information, and theft prevention. Positioning satellites have been used to acquire their own vehicle's location information. Patent Document 1 discloses a work vehicle equipped with a GPS (Global Positioning System) antenna for acquiring information (satellite information) from positioning satellites.

[0003] In the rice transplanter disclosed in Patent Document 1, the GPS antenna is fixed to a door-shaped mounting frame provided above the engine hood. Specifically, the GPS antenna is arranged at the left-right center of the upper portion of the door-shaped mounting frame.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 2008-92818 Summary of the Invention

[0007] Satellite positioning devices such as GPS antennas that acquire satellite information need to be placed in locations where it is easy to communicate with satellites. Therefore, as disclosed in Patent Document 1, for example, a satellite positioning device is placed at a higher position on a work vehicle. If a positioning device is placed at such a higher position, the height of the work vehicle may be raised to a higher level than required. In addition, if a positioning device is placed at a position such as that disclosed in Patent Document 1, when executing control using positioning data, there is a concern that the burden of correction processing for correcting the positioning data to information corresponding to the reference point (control point) of the control will increase. Furthermore, if the height of the work vehicle is raised, it becomes inconvenient when, for example, storing the work vehicle in a warehouse, and therefore it is desirable that the height of the work vehicle be lower.

[0008] An object of the present invention is to provide a technology suitable for a work vehicle equipped with a positioning device.

[0009] An exemplary work vehicle of the present invention includes: a traveling portion having rear wheels; a rear axle case supporting the rear wheels; and a quantum compass disposed around the rear axle case.

[0010] Effects of the Invention

[0011] According to the exemplary present invention, it is possible to reduce the height of a work vehicle equipped with a positioning device or to reduce the processing load using positioning data. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a side view which shows the schematic structure of a rice transplanter.

[0013] Figure 2 It is a top view which shows the schematic structure of a rice transplanter.

[0014] Figure 3 This is a top view schematically illustrating the configuration of a quantum compass.

[0015] Figure 4 This is a plan view schematically showing the configuration of the quantum compass according to the first embodiment.

[0016] Figure 5 This is a rear view schematically showing the configuration of the quantum compass according to the first embodiment.

[0017] Figure 6 This is a rear view schematically showing the configuration of the quantum compass according to the second embodiment.

[0018] Figure 7 It is a diagram showing a modified example of the second embodiment.

[0019] Figure 8 This is a diagram schematically showing the configuration of the quantum compass according to the third embodiment.

[0020] Figure 9 This is a diagram for explaining an overview of the arrangement of a quantum compass in a rice transplanter.

[0021] Figure 10 This is a diagram schematically showing the configuration of the quantum compass according to the fourth embodiment.

[0022] Figure 11 This is a diagram schematically showing the configuration of the quantum compass according to the fifth embodiment.

[0023] Figure 12 It is a diagram showing a modified example of the fifth embodiment.

[0024] Figure 13 This is a diagram schematically showing the configuration of the quantum compass according to the sixth embodiment.

[0025] Figure 14 This is a diagram schematically showing the seventh embodiment related to the configuration of the quantum compass. DETAILED DESCRIPTION

[0026] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0027] The work vehicle involved in the embodiments of the present invention is a rice transplanter. However, this is merely an example. The present invention can also be applied to other agricultural work vehicles besides rice transplanters, such as transfer machines and tractors. Furthermore, the present invention can also be applied to work vehicles other than agricultural work vehicles, such as work vehicles used for civil engineering and construction work, or snowplows.

[0028] <1. Overview of Rice Transplanter>

[0029] Figure 1 1 is a side view showing a schematic structure of a rice transplanter 100 according to an embodiment of the present invention. Figure 1 In FIG. 1 , the rear wheel 12 b is indicated by an imaginary line (two-dot chain line) in order to facilitate understanding of the structure of a portion originally hidden in the rear wheel 12 b. Figure 2 It is a top view which shows the schematic structure of the rice transplanter 100.

[0030] Here, the direction for describing the rice transplanter 100 is defined. First, the imaginary plane S (refer to Figure 1 ) is defined as the up-down direction, and the side with the rice transplanter 100 relative to the imaginary plane S is defined as the upper side. In addition, the direction in which the rice transplanter 100 travels straight is defined as the front-back direction, and the steering wheel 21 with respect to the driver's seat 20 (both refer to Figure 1 ) is defined as the front side. In addition, the left-right direction is defined as the direction perpendicular to the up-down direction and the front-back direction, the left side when facing from the back to the front is defined as the left, and the right side is defined as the right to define the left and right. In the accompanying drawings, the symbol "F" represents the front, the symbol "B" represents the back, the symbol "R" represents the right side, the symbol "L" represents the left side, the symbol "U" represents the top, and the symbol "D" represents the bottom. It should be noted that these directions are names used for explanation only and are not intended to limit the actual positional relationship and direction.

[0031] The rice transplanter 100 performs a planting operation of planting rice seedlings on the ground of the field while traveling in the field. Figure 1 and Figure 2 As shown, the rice transplanter 100 includes a traveling body 1 and a working device 2 .

[0032] The traveling machine body 1 includes a machine body frame 11 and a traveling portion 12. The machine body frame 11 constitutes a floor surface 111 on which a driver and others are placed (see Figure 2 ) etc. The traveling unit 12 includes front wheels 12a arranged at intervals in the left-right direction at the front of the traveling body 1. Furthermore, the traveling unit 12 includes rear wheels 12b arranged at intervals in the left-right direction at the rear of the traveling body 1. In other words, the rice transplanter 100 includes a traveling unit 12 having rear wheels 12b.

[0033] An engine 14 is arranged at the left-right center of the front portion of the body frame 11 and is covered from above by an engine cover 13. Figure 1 and Figure 2 In the figure, the engine 14 is covered by the engine cover 13 and is not visible, so it is represented by an imaginary line (dashed line). In addition, the engine 14 is an example of a prime mover, specifically a diesel engine. Other prime movers such as a motor can also be configured to replace the engine 14.

[0034] A gearbox 15 is arranged behind the engine 14. That is, the rice transplanter (work vehicle) 100 has a gearbox 15. The gearbox 15 has a power transmission device (not shown) inside it. Based on this point, the gearbox 15 can also be called a power transmission device case. In the present embodiment, the power transmission device is configured to be able to change the speed of the rotational power of the engine 14. A front axle box (not shown) is arranged on the left and right sides of the gearbox 15. The front wheel 12a is mounted on the front axle 16 of the front axle box and is driven by the power transmitted from the power transmission device in the gearbox 15. It should be noted that the front axle 16 extends in the left and right directions and can rotate around the axis. The front wheel 12a is fixed to the front axle 16 and is configured to be able to rotate together with the front axle 16.

[0035] A rear axle case 17 is disposed behind the transmission 15. Specifically, the rice transplanter (work vehicle) 100 includes the rear axle case 17 disposed behind the transmission 15. Specifically, the rear axle case 17 is coupled to the transmission 15 via a connecting frame 18 extending in the front-to-rear direction. A rear-wheel drive shaft 19 is disposed along the connecting frame 18, extending in the front-to-rear direction. The rear-wheel drive shaft 19 transmits power transmitted from the power transmission device within the transmission 15 to a power transmission mechanism (not shown) provided in the rear axle case 17.

[0036] The rear axle case 17 includes a rear axle 17a that supports the rear wheels 12b. The rear axle 17a constitutes the output portion of the power transmission mechanism included in the rear axle case 17. The rear axle 17a extends in the left-right direction and is rotatable about its axis. The rear wheels 12b are fixed to the rear axle 17a and can rotate together with the rear axle 17a. The rear wheels 12b are driven by power transmitted from the power transmission device within the transmission 15 to the rear axle 17a via the rear wheel drive shaft 19.

[0037] The traveling machine body 1 includes a driver's seat 20 supported by a machine body frame 11. The driver's seat 20 is arranged above the connecting frame 18. A steering wheel 21, which is a steering wheel used by the operator to steer the rice transplanter 100, is arranged in front of the driver's seat 20. Furthermore, operating devices such as a shift lever, a shift pedal, and a brake pedal (not shown) are arranged around the driver's seat 20.

[0038] The traveling body 1 has a preliminary seedling loading platform 22 arranged on the left and right outer sides of the engine cover 13. A seedling raising mat for replenishment is placed on the preliminary seedling loading platform 22. The preliminary seedling loading platform 22 is arranged on the left and right sides. A plurality of preliminary seedling loading platforms 22 are arranged in the vertical direction on each side.

[0039] The working device 2 is arranged at the rear of the machine frame 11 and supported by the machine frame 11. Specifically, the working device 2 is a planting device. The working device 2 is supported so as to be able to swing in the vertical direction relative to the machine frame 11. The working device 2 includes a seedling loading platform 30 for loading a seedling mat and a main frame 31 arranged below the seedling loading platform 30. The seedling loading platform 30 is connected to the main frame 31. The main frame 31 is a rod-shaped member extending in the left-right direction and has a central housing 32 at the center in the left-right direction.

[0040] The center housing 32 includes a gear train (not shown) including bevel gears. The power take-off shaft 23 (hereinafter referred to as the "PTO shaft 23") is connected to the input shaft 32a of the center housing 32 via a universal joint. The power generated by the engine 14 is transmitted to the PTO shaft 23 via the transmission 15 (specifically, the internal power transmission device) and a power transmission shaft (not shown). The output shaft (not shown) of the center housing 32 is arranged along the main frame 31, which extends in the left-right direction.

[0041] Planting transmission boxes 33 are arranged at approximately equal intervals in the left-right direction behind the main frame 31 at multiple locations (four locations in this embodiment, for example). The planting transmission boxes 33 are connected to the output shaft of the central housing 32. A pair of planting units (transfer mechanisms) 34 are arranged on the left and right sides of the planting transmission box 33. Power input from the PTO shaft 23 is transmitted to the planting units 34 via the central housing 32 and the planting transmission box 33.

[0042] The pair of planting sections 34 each includes a rotor housing 35 and a planting claw 36. The rotor housing 35 is mounted on the planting transmission case 33 so as to be rotatable about an axis extending in the left-right direction. Two planting claws 36 are rotatably mounted on each rotor housing 35, and are arranged on opposite sides of the rotation center of the rotor housing 35. Each planting claw 36 is mounted on the rotor housing 35 so as to be rotatable about an axis extending in the left-right direction. The two planting claws 36 shift as the rotor housing 35 rotates. The shifting of the two planting claws 36 allows the planting of a single row of seedlings.

[0043] The working device 2 includes a transverse feed drive unit (not shown) that moves the seedling loading platform 30 in a horizontal direction. In parallel with the horizontal reciprocating movement of the seedling loading platform 30, each planting unit 34 removes seedlings from the seedling loading platform 30 and plants them in the field. In this embodiment, the presence of multiple (specifically, eight) planting units 34 allows simultaneous planting of multiple ridges.

[0044] The working device 2 is provided so as to be able to be raised and lowered by the lifting device 37 (see Figure 1 ). The lifting device 37 includes a columnar frame 371, an upper link component 372, a lower link component 373, and a hydraulic cylinder 374. The columnar frame 371 extends upward from the rear axle box 17 and is connected to the rear portion of the body frame 11. The upper link component 372 and the lower link component 373 constitute a pair of link components arranged parallel to each other. The columnar frame 371 and the seedling loading platform 30 are connected by means of the pair of link components 372 and 373. The nodes of the columnar frame 371, the seedling loading platform 30, and the pair of link components 372 and 373 constitute the four vertices of a parallelogram.

[0045] The hydraulic cylinder 374 is connected to the connecting frame 18 and the lower link member 373. The extension and retraction of the hydraulic cylinder 374 causes the pair of link members 372 and 373 to swing about the node on the column frame 371 side, thereby raising and lowering the working mechanism 2. The extension and retraction of the hydraulic cylinder is achieved by controlling the drive of a hydraulic pump (not shown) driven by the output of the engine 14.

[0046] <2. Quantum Compass>

[0047] [2-1. Overview]

[0048] The rice transplanter 100 of this embodiment is configured to be capable of automatic driving. Here, automatic driving means that at least steering is performed autonomously by controlling a driving-related device by a control device (not shown). During automatic driving, in addition to steering, at least one of the vehicle speed adjustment and the operation of the working device 2 can also be performed autonomously. It should be noted that operations related to automatic driving (switch operations for automatic driving, condition setting operations, etc.) can be performed, for example, using an automatic driving operating unit (not shown) arranged around the driver's seat 20 and the steering wheel 21, or a portable terminal device that can communicate wirelessly with the rice transplanter 100.

[0049] The rice transplanter 100 that is set to be able to travel automatically requires the position information of the machine (itself). In order to obtain the position information of the machine, the rice transplanter 100 of this embodiment is equipped with a quantum compass 40 (see the following). Figure 3 and Figure 10It should be noted that in this embodiment, the rice transplanter 100 is configured to be equipped with a quantum compass 40 capable of acquiring the position information of the rice transplanter for the purpose of enabling autonomous driving, but this is merely an example. For example, the rice transplanter 100 may also be equipped with a quantum compass for other purposes, such as recording the rice transplanter's operating information or preventing theft.

[0050] The quantum compass 40 is an electrical component that uses electricity to measure latitude and longitude. The quantum compass 40 is installed on the rice transplanter 100 as an electrical component. The quantum compass 40 does not have the configuration constraints related to communication as in the case of using satellite information to obtain position information. For example, the quantum compass 40 can also be configured outside the upper part of the rice transplanter 100. On the other hand, the positioning data that can be obtained using the quantum compass 40 is preferably obtained in a state that is easy to use for automatic driving control, and the quantum compass 40 cannot be configured in any position. In addition, since the quantum compass 40 is an electrical component, it is preferably mounted on the rice transplanter 100 in a manner that does not allow rain, mud, exhaust gas, etc. to come into contact. In this embodiment, taking these aspects into consideration, the configuration and configuration method of the quantum compass 40 have been carefully studied. The following describes a detailed example of the configuration and configuration method of the quantum compass 40.

[0051] Before describing a detailed example, a general description of the configuration of the quantum compass 40 will be provided. It should be noted that in this embodiment, the rice transplanter 100 is equipped with a single quantum compass 40. However, the rice transplanter 100 may also be equipped with multiple quantum compasses 40. For example, two quantum compasses 40 may be arranged symmetrically, horizontally, or vertically. Alternatively, multiple quantum compasses 40 may be used to control the posture of the rice transplanter 100.

[0052] Figure 3 1 is a top view for explaining the general arrangement of the quantum compass 40 in the rice transplanter 100 of this embodiment. Figure 3 is a top view. Figure 3 As shown, the quantum compass 40 is arranged around the rear axle box 17. Figure 3 In FIG. 4 , the region RE surrounded by the dotted line represents the configurable region of the quantum compass 40 indicated by the single-dot chain line. Figure 3 The configurable area RE of the quantum compass 40 shown is only an example. If the quantum compass 40 is configured around the rear axle box 17, the position of the quantum compass 40 can be determined from Figure 3 The position shown (above the rear axle case 17) can be changed as appropriate. For example, the quantum compass 40 can be placed in front of, behind, or below the rear axle case 17. In addition, the quantum compass 40 can be supported by the rear axle case 17 or other components.

[0053] If the quantum compass 40 is arranged around the rear axle case 17, the quantum compass 40, which serves as a positioning device, can be placed at a lower position in the rice transplanter 100. Therefore, the height of the rice transplanter 100 can be lowered compared to a case where a satellite positioning device is arranged in the rice transplanter 100. As a result, for example, the convenience of storing the rice transplanter 100 in a warehouse can be improved.

[0054] Alternatively, if the quantum compass 40 is positioned around the rear axle case 17, the quantum compass 40 can be placed within the area surrounded by the four wheels: the left and right front wheels 12a and the left and right rear wheels 12b. This allows the quantum compass 40 to be positioned at a position slightly offset from the control point of the rice transplanter 100 (the vehicle's control point) during autonomous driving. Consequently, the burden of the calibration process for position information acquired by the quantum compass 40 during autonomous driving can be reduced.

[0055] The quantum compass 40 is preferably arranged at a position where the positional deviation from the control point during automatic driving is small. In this sense, the quantum compass 40 of the rear axle box 17 is preferably arranged at the bisector CL (refer to the bisector CL) which divides the rice transplanter 100 in the left and right directions when viewed from above. Figure 2 )superior.

[0056] Figure 9 1 is a diagram for explaining an overview of the arrangement of the quantum compass 40 in the rice transplanter 100 of this embodiment. Figure 9 In FIG, the dotted box 200 represents the preferred configuration location of the quantum compass 40. Figure 9 As shown, as a preferred embodiment, the quantum compass 40 is arranged behind the gearbox 15 and in front of the rear axle box 17 .

[0057] Specifically, the quantum compass 40 can be positioned between the transmission 15 and the rear axle case 17 in the front-to-rear direction. It should be noted that the quantum compass 40 does not necessarily need to be located between the transmission 15 and the rear axle case 17 in the strict sense. For example, the quantum compass 40 can be positioned in a position that does not overlap with at least one of the transmission 15 and the rear axle case 17 when viewed from the front-to-rear direction. However, the quantum compass 40 is preferably positioned below the body frame 11. Furthermore, the quantum compass 40 is preferably positioned in a position that overlaps with at least one of the transmission 15 and the rear axle case 17 when viewed from the front-to-rear direction.

[0058] With the configuration of this embodiment, the quantum compass 40, serving as a positioning device, can be placed at a lower position in the rice transplanter 100, effectively utilizing the space that is often left vacant. Consequently, the height of the rice transplanter 100 can be reduced compared to a case where a satellite positioning device is placed in the rice transplanter 100. As a result, for example, the rice transplanter 100 can be made more convenient when being stored in a warehouse, or the rice transplanter 100 can be made less likely to tip over in the left-right direction.

[0059] Furthermore, with the configuration of this embodiment, the quantum compass 40 can be positioned at a location surrounded by the four wheels, namely the left and right front wheels 12a and the left and right rear wheels 12b. This allows the quantum compass 40 to be positioned at a location that is slightly offset from the control point of the rice transplanter 100 (the vehicle's control point) during autonomous driving. Consequently, the burden of the calibration process for position information acquired by the quantum compass 40 during autonomous driving can be reduced.

[0060] The quantum compass 40 is preferably arranged at a position where the positional deviation from the control point during automatic driving is small. In this sense, the quantum compass 40 is preferably arranged at a bisector (center line) CL (refer to the center line) that divides the rice transplanter 100 into two equal parts in the left and right directions when viewed from above. Figure 2 )superior.

[0061] In addition, the quantum compass 40 can be configured to be installed so that the height position of the rear axle 17a converges to a height position between the upper end and the lower end of the quantum compass. In this way, the quantum compass 40 can be placed in a place where the positional deviation is reduced relative to the left-right center position of the rear axle 17a, which is a candidate for the control point. Figure 9 , a structure is shown as an example in which a virtual quantum compass 40 indicated by a dashed line is provided so that the height position of the rear axle 17a is converged to a height position between the upper end and the lower end thereof.

[0062] Alternatively, the quantum compass 40 can be positioned so as to overlap the driver's seat 20 when viewed from above. This allows the quantum compass 40 to be positioned at or near the center of gravity of the rice transplanter 100, which is a candidate for a control point. Alternatively, the quantum compass 40 can be positioned at a location that serves as the center of the four wheels. If a control point is set at such a location, this configuration allows the quantum compass 40 to be positioned at the control point.

[0063] [2-2. Detailed example of quantum compass configuration]

[0064] (2-2-1. First embodiment)

[0065] Figure 4 This is a plan view schematically showing the configuration of the quantum compass 40 according to the first embodiment. Figure 5 This is a rear view (back view) schematically showing the configuration of the first embodiment related to the arrangement of the quantum compass 40. It should be noted that the quantum compass 40 of the first embodiment may be supported by the rear axle case 17 or other components.

[0066] like Figure 4 and Figure 5 As shown, the rear axle case 17 includes a central housing portion 171 and a pair of side housing portions 172 .

[0067] The central housing portion 171 extends in the left-right direction parallel to the axis AX of the rear axle 17a. The central housing portion 171 is a cylindrical shape extending left-right. The central housing portion 171 includes a rear wheel drive shaft 19 (see FIG. 1 ). Figure 1 ) The input power is distributed into power for the left rear wheel 12b and power for the right rear wheel 12b, etc.

[0068] A pair of side housing sections 172 are arranged at the left and right ends of the central housing section 171. Specifically, the pair of side housing sections 172 includes a left housing section 172L arranged on the left side and a right housing section 172R arranged on the right side. The left housing section 172L houses a mechanism that transmits the power distributed to the left rear wheel 12b by a mechanism disposed within the central housing section 171 to the rear axle 17a for the left rear wheel 12b, namely, the left rear axle 17aL. The right housing section 172R houses a mechanism that transmits the power distributed to the right rear wheel 12b by a mechanism disposed within the central housing section 171 to the rear axle 17a for the right rear wheel 12b, namely, the right rear axle 17aR. As can be seen from the above description, in this embodiment, the rear axle 17a comprises a left rear axle 17aL and a right rear axle 17aR.

[0069] The quantum compass 40 is arranged between the left housing portion 172L and the right housing portion 172R in the left-right direction. That is, the quantum compass 40 is arranged between the pair of side housing portions 172. With this structure, the quantum compass 40 can be easily arranged on the bisector CL (see FIG. 1 ) which divides the rice transplanter 100 in the left-right direction in a top view. Figure 2 )superior.

[0070] More specifically, the pair of side housing portions 172 each include an extension portion 1721 extending rearward relative to the central housing portion 171. Furthermore, the quantum compass 40 is positioned between the left and right extension portions 1721. With this configuration, the quantum compass 40 can be mounted on the rice transplanter 100 by utilizing the structural clearance of the rear axle case 17. In other words, the quantum compass 40 can be efficiently positioned within the limited space of the rice transplanter 100.

[0071] Alternatively, if the quantum compass 40 is arranged between the left and right extensions 1721, it is possible to arrange it on the axis AX of the rear axle 17a. The axis AX is the axis of rotation and the centerline of rotation. It should be noted that in the first embodiment, the quantum compass 40 is arranged on the axis AX of the rear axle 17a. In the first embodiment, the rear axle 17a is divided into a left rear axle 17aL and a right rear axle 17aR. Therefore, specifically, the quantum compass 40 is arranged on the inward extensions of the axes of the left rear axle 17aL and the right rear axle 17aR. However, even in the case of a multiple-divided rear axle 17a, the axes of the divided rear axles 17aL and 17aR coincide when viewed from the side (from left to right). Therefore, the quantum compass 40 appears only as the axis AX of the rear axle 17a.

[0072] In the first embodiment, the control point during autonomous driving is located on the axis AX of the rear axle 17a. Therefore, by placing the quantum compass 40 on the axis AX, it is possible to place the quantum compass 40 near the control point during autonomous driving. As a result, the burden of correcting the position information acquired by the quantum compass 40 during autonomous driving can be reduced.

[0073] More specifically, in the first embodiment, the intersection CP of a plane CS bisecting the rice transplanter 100 in the left-right direction (the left-right center plane) and the axis AX of the rear axle 17a serves as a control point for autonomous driving. Furthermore, in the first embodiment, a quantum compass 40 is positioned at this control point. Therefore, during autonomous driving, correction processing of the position information acquired by the quantum compass 40 can be eliminated.

[0074] (2-2-2. Second embodiment)

[0075] Figure 6 This is a rear view schematically illustrating the configuration of the second embodiment, including the placement of the quantum compass 40. In the second embodiment, the quantum compass 40 is also positioned between the left and right extensions 1721, similar to the first embodiment. Furthermore, the quantum compass 40 is positioned on the axis AX of the rear axle 17a. In describing the second embodiment, details common to the first embodiment will be omitted as much as possible.

[0076] In the second embodiment, the quantum compass 40 is supported by the rear axle case 17. This configuration can prevent the support structure of the quantum compass 40 disposed around the rear axle case 17 from becoming complicated. It should be noted that in the structure in which the quantum compass 40 is supported by the rear axle case 17, the quantum compass 40 may be directly mounted on the rear axle case 17 or indirectly mounted via a supporting member. Figure 6In the illustrated example, the quantum compass 40 is configured to be indirectly attached to the rear axle case 17 via a support member.

[0077] exist Figure 6 In the example shown, the rice transplanter 100 has a connecting member 41 that connects the left and right extension parts 1721. In detail, the connecting member 41 extends in the left-right direction, fixes the left end to the upper surface of the left extension part 1721, and fixes the right end to the upper surface of the right extension part 1721. As an example, the method of fixing the connecting member 41 to the extension part 1721 is bolt fastening, but other methods may also be used. It should be noted that, in this embodiment, the connecting member 41 is a support that constitutes the above-mentioned lifting device 37 (refer to Figure 1 ) is a component of the columnar frame 371. However, the connecting member 41 does not have to be a component that supports the columnar frame 371.

[0078] The quantum compass 40 is supported by the connecting member 41. This support can be direct or indirect. Direct support means that the quantum compass 40 is directly mounted on the connecting member 41, while indirect support means that the quantum compass 40 is mounted on the connecting member 41 via other components. Figure 6 In the illustrated example, the quantum compass 40 is attached to the connecting member 41 via another member 42 , and is thereby indirectly supported by the connecting member 41 .

[0079] It should be noted that Figure 6 The illustrated component 42 is an intermediate component provided for purposes such as height adjustment. However, component 42 is not required, particularly when height adjustment is not necessary. Height adjustment can be performed, for example, to position the quantum compass 40 on the axis AX of the rear axle 17a. The method for securing the quantum compass 40 to the intermediate component 42 and the method for securing the intermediate component 42 to the connecting component 41 can include, for example, methods using fasteners such as bolts, adhesive bonding, or welding.

[0080] Figure 7 FIG. 1 is a diagram showing a modified example of the second embodiment. Figure 7 In the modified example shown, the quantum compass 40 is covered by a cover member 43 made of, for example, a thin metal plate or resin. Figure 7 In the example shown, the cover member 43 is in a box shape that is open upward. Figure 7 In the example shown, the quantum compass 40 is covered by the cover member 43 and is not visible, so it is indicated by a dotted line. Covering the quantum compass 40 with the cover member 43 can enhance the function of protecting the quantum compass 40 from mud and water.

[0081] To improve the maintainability of quantum compass 40, cover member 43 is preferably detachably mounted to intermediate member 42 (or connecting member 41) using fasteners such as bolts. Alternatively, cover member 43 may be mounted to intermediate member 42 via a sealing member (not shown). This configuration enhances the waterproofing of quantum compass 40.

[0082] As a variation of the structure including the intermediate member 42 and the cover member 43, a structure in which the intermediate member and the cover member form a housing can also be employed, and the quantum compass 40 can be mounted on the connecting member 41 while housed in the housing. In this case, the housing is preferably a waterproof housing. Furthermore, to improve the maintainability of the quantum compass 40, the housing is preferably detachably mounted on the connecting member 41.

[0083] (2-2-3. Third embodiment)

[0084] Figure 8 This is a diagram schematically showing a third embodiment related to the configuration of the quantum compass 40 . Figure 8 and Figure 6 , etc. are also rear views, but are views showing only the periphery of the quantum compass 40. In the third embodiment, the quantum compass 40 is also supported by the connecting member 41, similar to the second embodiment. In describing the third embodiment, descriptions of matters common to the first and second embodiments will be omitted as much as possible.

[0085] In the third embodiment, the quantum compass 40 is supported by the connecting member 41 via the vibration-isolating member 44. In other words, the quantum compass 40 is supported by the rear axle case 17 via the vibration-isolating member 44. The vibration-isolating member 44 is interposed between the quantum compass 40 and the rear axle case 17, thereby suppressing the transmission of vibrations of the rear axle case 17 to the quantum compass 40. This prevents a decrease in the accuracy of position measurement by the quantum compass 40.

[0086] exist Figure 8 In the example shown, a vibration-isolating member 44, such as a rubber member, is interposed between the intermediate member 42A and the connecting member 41, and is secured to the connecting member 41 with bolts or other fasteners. This structure suppresses the transmission of vibrations from the rear axle case 17 to the intermediate member 42A via the connecting member 41. Consequently, vibrations of the quantum compass 40 mounted on the intermediate member 42A can be suppressed. Note that a cover member covering the quantum compass 40 may also be provided in the third embodiment.

[0087] (2-2-4. Fourth embodiment)

[0088] Figure 10 This is a diagram schematically showing a fourth embodiment of the configuration of the quantum compass 40 . Figure 10It is a side view. As described above, the rice transplanter 100 includes a connecting frame 18 that connects the transmission 15 and the rear axle box 17. The connecting frame 18 is an example of a connecting member of the present invention. In detail, the connecting frame 18 has: a rod-shaped portion 181 extending in the front-back direction; and flange portions 182 provided at the front and rear ends of the rod-shaped portion 181. The rod-shaped portion 181 and the flange portion 182 are connected to form a single component by, for example, welding. The rod-shaped portion 181 is, for example, a cylindrical shape such as a cylinder. The flange portion 182 on the front end side is fixed to the transmission 15 using fasteners such as bolts, and the flange portion 182 on the rear end side is fixed to the rear axle box 17 using fasteners such as bolts.

[0089] In the fourth embodiment, the quantum compass 40 is supported by the connecting frame 18. The connecting frame 18 is a sturdy component of the rice transplanter 100. Therefore, by supporting the quantum compass 40 on the connecting frame 18, the quantum compass 40 can be firmly supported. Furthermore, in this embodiment, the connecting frame 18 is located at the left-right center of the rice transplanter 100. Therefore, by adopting a structure in which the quantum compass 40 is supported by the connecting frame 18, the quantum compass 40 can be positioned in the rice transplanter 100 with a reduced lateral deviation relative to the control point during autonomous driving. As a result, the burden of the correction processing required to calibrate the position information acquired by the quantum compass 40 can be reduced.

[0090] It should be noted that the method of attaching the quantum compass 40 to the connecting frame 18 is not particularly limited and may be a method using fasteners such as bolts, or bonding, etc. Furthermore, the quantum compass 40 is preferably attached to the rod-shaped portion 181 of the connecting frame 18 .

[0091] exist Figure 10 In the example shown, the quantum compass 40 is arranged on the upper side of the connecting frame 18 (specifically, the rod-shaped portion 181). However, the quantum compass 40 may be arranged, for example, Figure 10 The quantum compass 40 can be positioned in any direction around the connecting frame 18, such as the lower side of the connecting frame 18 indicated by the single-dot chain line. However, the quantum compass 40 is preferably positioned above or below the connecting frame 18. This allows the quantum compass 40 to be positioned on the rice transplanter 100 while minimizing lateral deviation relative to the control point during autonomous travel. It should be noted that positioning the quantum compass 40 above the connecting frame 18 reduces the likelihood of the quantum compass 40 becoming immersed in mud in the field. Furthermore, positioning the quantum compass 40 below the connecting frame 18 allows the quantum compass 40 to be positioned in a larger area of ​​the rice transplanter 100. Positioning the quantum compass 40 in a larger area can, for example, improve the maintainability of the quantum compass 40.

[0092] Furthermore, the quantum compass 40 can be placed at any position in the front-rear direction of the connecting frame 18. For example, the quantum compass 40 can be placed at the center of the connecting frame 18 in the front-rear direction, or can be placed below the driver's seat 20. The position of the connecting frame 18 where the quantum compass 40 is placed can also be determined from the perspective of reducing positional deviation relative to the position of the control point during autonomous driving.

[0093] (2-2-5. Fifth embodiment)

[0094] Figure 11 This is a diagram schematically showing the configuration of the quantum compass 40 according to the fifth embodiment. Figure 11 This is a longitudinal sectional view schematically illustrating the structure, specifically, a view of the longitudinal section viewed from the rear. In the fifth embodiment, quantum compass 40 is supported by connecting frame 18, similarly to the fourth embodiment. Furthermore, in the fifth embodiment, quantum compass 40 is also arranged around connecting frame 18, similarly to the fourth embodiment. In describing the fifth embodiment, descriptions of details common to the fourth embodiment will be omitted as much as possible.

[0095] In the fifth embodiment, the quantum compass 40 is supported on the connecting frame 18 via a support member 41. The quantum compass 40 can be attached to the support member 41 using fasteners such as bolts, welding, or bonding. By adopting a structure in which the quantum compass 40 is not directly attached to the connecting frame 18 but is indirectly attached to the connecting frame 18 via the support member 41, the degree of freedom in the placement of the quantum compass 40 relative to the connecting frame 18 can be increased. Furthermore, this configuration can enhance the support strength of the quantum compass 40.

[0096] It should be noted that, in the fifth embodiment, the support member 41 is flat, but the shape of the support member 41 can be modified as appropriate. Furthermore, in the fifth embodiment, the support member 41 is welded to the connecting frame 18 (specifically, the rod-shaped portion 181), but the support member 41 can also be fixed to the connecting frame 18 using fasteners such as bolts. Furthermore, in the fifth embodiment, the placement of the support member 41 relative to the connecting frame 18 can be modified as appropriate, allowing the quantum compass 40 to be placed elsewhere, such as above the connecting frame 18.

[0097] Figure 12 It is a diagram showing a modified example of the fifth embodiment. Figure 12 This is a longitudinal sectional view showing a schematic structure, specifically, a view of the longitudinal section viewed from the rear. Figure 12 As shown, the quantum compass 40 may be covered by a cover member 42 made of, for example, a thin metal plate or resin. That is, the rice transplanter 100 may be configured to include a cover member 42 covering the quantum compass 40. This can enhance the function of protecting the quantum compass 40 from mud and water.

[0098] To improve the maintainability of quantum compass 40, cover member 42 is preferably detachably mounted to support member 41 using fasteners such as bolts. Alternatively, cover member 42 may be mounted to support member 41 via a sealing member (not shown). This configuration enhances the waterproofing of quantum compass 40.

[0099] As a variation of the structure including support member 41 and cover member 42, a structure in which the support member and cover member form a housing can also be employed, and the quantum compass 40 can be mounted on the connecting frame 18 while housed in the housing. In this case, the housing is preferably a waterproof housing. Furthermore, to enhance the maintainability of the quantum compass 40, the housing is preferably detachably mounted on the connecting frame 18.

[0100] (2-2-6. Sixth embodiment)

[0101] Figure 13 This is a diagram schematically showing the configuration of the quantum compass 40 according to the sixth embodiment. Figure 13 This is a longitudinal sectional view schematically illustrating the structure, specifically, a view of the longitudinal section viewed from the rear. In the sixth embodiment, quantum compass 40 is supported by connecting frame 18, similarly to the fourth and fifth embodiments. Furthermore, in the sixth embodiment, quantum compass 40 is also arranged around connecting frame 18, similarly to the fourth and fifth embodiments. In describing the sixth embodiment, descriptions of matters common to the fourth and fifth embodiments will be omitted as much as possible.

[0102] In the sixth embodiment, the quantum compass 40 is supported by the connecting frame 18 via a vibration-isolating member 43. Interposing the vibration-isolating member 43 between the quantum compass 40 and the connecting frame 18 can suppress the transmission of vibrations of the connecting frame 18 to the quantum compass 40. In other words, a decrease in the accuracy of position measurement by the quantum compass 40 can be suppressed.

[0103] exist Figure 13 In the illustrated example, the rice transplanter 100 includes a first support member 41A mounted on the connecting frame 18 (specifically, the rod-shaped portion 181) and a second support member 41B to which the quantum compass 40 is mounted. The second support member 41B has a vibration-isolating member 43, such as a rubber member, interposed between the second support member 41B and the first support member 41A, and is secured to the first support member 41A using fasteners such as bolts. This configuration makes it difficult for vibrations of the connecting frame 18 to be transmitted to the second support member 41B, thereby suppressing the transmission of vibrations of the connecting frame 18 to the quantum compass 40.

[0104] In addition, in the case of the sixth embodiment, a cover member may be provided to cover the quantum compass 40. The cover member may be attached to either the first supporting member 41A or the second supporting member 41B.

[0105] (2-2-7. Seventh embodiment)

[0106] Figure 14 This is a diagram schematically showing the configuration of the quantum compass 40 according to the seventh embodiment. Figure 14 This is a longitudinal sectional view schematically illustrating the structure, specifically, a view of the longitudinal section viewed from the rear. In the seventh embodiment, quantum compass 40 is also supported by connecting frame 18, similar to the fourth to sixth embodiments. In describing the seventh embodiment, descriptions of details common to the fourth to sixth embodiments will be omitted as much as possible.

[0107] In the seventh embodiment, at least a portion of the quantum compass 40 is disposed within the connecting frame 18. While all components of the quantum compass 40 may be disposed within the connecting frame 18, only a portion may be disposed within the connecting frame 18. For example, a configuration in which an opening provided in the connecting frame 18 is utilized to partially dispose the quantum compass 40 within the connecting frame 18 can be employed. This configuration in which at least a portion of the quantum compass 40 is disposed within the connecting frame 18 facilitates adjustment of the height of the quantum compass 40 and protects the quantum compass 40 from mud. For example, by connecting the connecting frame 18, with the quantum compass 40 disposed therein, to the transmission 15 and the rear axle case 17, the position of the quantum compass 40 within the work vehicle 1 can be uniquely determined, making its height adjustment easy.

[0108] exist Figure 14 In the example shown, the quantum compass 40 is placed inside the connecting frame 18. Specifically, the rod-shaped portion 181 of the connecting frame 18 is cylindrical. That is, the connecting frame 18 has a hollow portion 183. The quantum compass 40 is placed in the hollow portion 183. It should be noted that the hollow portion 183 herein refers to the space formed inside the connecting frame 18. Placing the quantum compass 40 in the hollow portion 183 makes it difficult for mud and rainwater to splash onto the quantum compass 40. Furthermore, the quantum compass 40 can be placed in the rice transplanter 100 by effectively utilizing the vacant space.

[0109] It should be noted that if Figure 14 As shown, quantum compass 40 disposed in hollow portion 183 can be mounted on support member 41C provided in hollow portion 183. Support member 41C can be formed from a vibration-damping member such as a rubber member. Furthermore, the shape of rod-shaped portion 181 constituting hollow portion 183 is not limited to a cylindrical shape; a rectangular cylindrical shape or the like is also possible.

[0110] <3. Notes, etc.>

[0111] 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.

[0112] <4. Notes>

[0113] An exemplary work vehicle of the present invention may have a configuration (first configuration) including: a traveling portion having rear wheels; a rear axle case supporting the rear wheels; and a quantum compass disposed around the rear axle case.

[0114] The work vehicle having the first structure may have a structure (second structure) in which the quantum compass is supported by the rear axle case.

[0115] The work vehicle of the first or second structure may have a structure (third structure) in which the quantum compass is arranged on the axis of a rear axle of the rear axle case.

[0116] Based on the working vehicle of any one of the above-mentioned structures 1 to 3, it can be the following structure (the fourth structure), wherein the rear axle box has: a central shell portion, which extends in the left-right direction parallel to the axis of the rear axle of the rear axle box; and a pair of side shell portions, which are arranged at the left and right ends of the central shell portion, and the quantum compass is arranged between the pair of side shell portions.

[0117] The work vehicle of the fourth structure may have a structure (fifth structure) in which the pair of side housings each include an extension portion extending rearward relative to the central housing, and the quantum compass is disposed between the left and right extension portions.

[0118] The work vehicle of the fifth configuration may have a configuration (sixth configuration) in which the work vehicle includes a connecting member connecting the left and right extending portions, and the quantum compass is supported by the connecting member.

[0119] The work vehicle of the first structure may have a structure (seventh structure) in which the work vehicle includes a transmission, the rear axle case is arranged behind the transmission, and the quantum compass is arranged behind the transmission and in front of the rear axle case.

[0120] The work vehicle of the seventh configuration may have a configuration (eighth configuration) in which the work vehicle includes a connecting member connecting the transmission and the rear axle case, and the quantum compass is supported by the connecting member.

[0121] The work vehicle of the eighth configuration may have a configuration (ninth configuration) in which at least a portion of the quantum compass is disposed inside the connecting member.

[0122] The work vehicle of the eighth or ninth structure may have a structure (tenth structure) in which the connecting member has a hollow portion, and the quantum compass is disposed in the hollow portion.

[0123] Based on the working vehicle of any one of the above-mentioned structures 7 to 10, it can be the following structure (11th structure), wherein the rear axle box has a rear axle supporting the rear wheels, and the quantum compass is arranged so that the height position of the rear axle converges to a height position between the upper end and the lower end of the quantum compass.

[0124] Description of Reference Numerals

[0125] 12: Traveling unit; 12b: Rear wheel; 15: Gearbox; 17: Rear axle box; 17a: Rear axle; 17aL: Left rear axle; 17aR: Right rear axle; 18: Connecting frame (connecting component); 40: Quantum compass; 41: Connecting component; 100: Rice transplanter; 171: Central housing portion; 172: Side housing portion; 172L: Left housing portion; 172R: Right housing portion; 1721: Extension portion; 183: Hollow portion; AX: Axis.

Claims

1. A work vehicle, wherein: The work vehicle has: a running part having rear wheels; a rear axle box supporting the rear wheels; and A quantum compass is arranged around the rear axle box.

2. The work vehicle according to claim 1, wherein: The quantum compass is supported on the rear axle box.

3. The work vehicle according to claim 1, wherein: The quantum compass is arranged on the axis of the rear axle of the rear axle box.

4. The work vehicle according to any one of claims 1 to 3, wherein: The rear axle box has: a center housing portion extending in a left-right direction parallel to an axis of a rear axle included in the rear axle case; and a pair of side housing portions, which are arranged at left and right ends of the central housing portion, The quantum compass is disposed between the pair of side housing portions.

5. The work vehicle according to claim 4, wherein: The pair of side housing parts each have an extension portion extending rearward relative to the central housing part. The quantum compass is disposed between the left and right extending portions.

6. The work vehicle according to claim 5, wherein: The work vehicle includes a connecting member connecting the left and right extension portions. The quantum compass is supported by the connecting member.

7. The work vehicle according to claim 1, wherein: The work vehicle is provided with a gearbox, The rear axle box is arranged behind the gearbox. The quantum compass is arranged behind the gearbox and in front of the rear axle box.

8. The work vehicle according to claim 7, wherein: The work vehicle includes a connecting member connecting the transmission and the rear axle case. The quantum compass is supported by the connecting member.

9. The work vehicle according to claim 8, wherein: At least a portion of the quantum compass is disposed inside the connecting member.

10. The work vehicle according to claim 8 or 9, wherein: The connecting member has a hollow portion, The quantum compass is disposed in the hollow portion.

11. The work vehicle according to claim 7, wherein: The rear axle box has a rear axle supporting the rear wheels. The quantum compass is arranged so that the height position of the rear axle converges to a height position between an upper end and a lower end of the quantum compass.

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