Work vehicle

Abstract

To provide an art which enables a quantum compass to be arranged properly in a work vehicle.SOLUTION: An exemplary work vehicle includes: a cabin part having a floor; a power transmission unit disposed below the floor; and a quantum compass disposed between the floor and the power transmission unit.SELECTED DRAWING: Figure 9A

Description

[Technical Field]

[0001] The present invention relates to a work vehicle. [Background technology]

[0002] Conventionally, work vehicles equipped with a function for acquiring vehicle position information for the purposes of autonomous driving, recording work information, or theft prevention have been known. Positioning satellites have conventionally been used to acquire vehicle position information. Patent Document 1 discloses a work vehicle equipped with a GNSS (Global Navigation Satellite System) antenna that acquires information (satellite information) from positioning satellites. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-129654 Summary of the Invention [Problem to be solved by the invention]

[0004] In a configuration that uses satellite information to obtain the vehicle's position information, the positioning antenna must be located in a position that facilitates communication with the satellite, which places restrictions on the placement of the positioning device. In this regard, if a quantum compass is used as a positioning device to obtain the vehicle's position information, communication with a satellite is not required, which is thought to increase the freedom in the placement of the positioning device. However, the operating environment of a work vehicle is harsher than that of a regular automobile, for example, there is a lot of dust and dirt, and vibrations during driving are likely to be large. In other words, when placing a quantum compass on a work vehicle, it is necessary to consider the harsh operating environment when devising a placement.

[0005] An object of the present invention is to provide a technology that enables a quantum compass to be appropriately arranged on a work vehicle. [Means for solving the problem]

[0006] An exemplary work vehicle of the present invention comprises a riding 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. [Effects of the Invention]

[0007] In accordance with the exemplary present invention, a quantum compass may be placed in an appropriate location on the work vehicle. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a side view showing a schematic configuration of a work vehicle; [Figure 2] FIG. 1 is a plan view showing a schematic configuration of a work vehicle; [Figure 3] FIG. 1 is a perspective view showing a schematic configuration of a boarding base that constitutes the boarding section. [Figure 4] FIG. 4 shows the seat section attached to the boarding base shown in FIG. 3. [Figure 5] FIG. 1 is a side view showing a schematic configuration of a boarding base that constitutes the boarding section. [Figure 6] FIG. 1 is a side view showing a schematic configuration of a work vehicle of another embodiment to which the present invention can be applied. [Figure 7] FIG. 7 is a perspective view showing a schematic configuration of a boarding base in the cabin-type work vehicle shown in FIG. [Figure 8] Schematic diagram showing the relationship between the floor and the power transmission section [Figure 9A] 1 is a side view showing a schematic diagram of a first embodiment of a quantum compass arrangement; [Figure 9B] 1 is a rear view schematically illustrating a first embodiment of the quantum compass arrangement. [Figure 10] FIG. 10 is a diagram showing a modification of the first embodiment. [Figure 11A] 1 is a side view showing a schematic diagram of a second embodiment of the quantum compass arrangement; [Figure 11B] 1 is a rear view schematically illustrating a second embodiment of the quantum compass arrangement. [Figure 12] 3 is a rear view schematically illustrating a third embodiment of the quantum compass arrangement. [Figure 13]FIG. 10 is a diagram showing a first modification of the quantum compass arrangement according to the third embodiment. [Figure 14] FIG. 10 is a diagram showing a second modification of the quantum compass arrangement according to the third embodiment. [Figure 15] 10 is a rear view schematically illustrating a fourth embodiment of the quantum compass arrangement. [Figure 16] 5 is a side view showing a schematic diagram of a fifth embodiment of the quantum compass arrangement. [Figure 17] FIG. 10 is a diagram showing a modified example of the quantum compass arrangement in the fifth embodiment. [Figure 18] A side view schematically showing a sixth embodiment of the quantum compass arrangement. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0010] The work vehicle according to an embodiment of the present invention is a tractor. However, this is merely an example. The work vehicle may be an agricultural work machine other than a tractor, such as a harvester such as a combine harvester, or a transplanter such as a rice transplanter. The work vehicle may also be a work machine other than an agricultural work machine, such as a work machine for civil engineering or construction work, or a snowplow.

[0011] In addition, directions are defined as follows in this specification. First, the direction in which a tractor serving as a work vehicle travels during work is defined as "forward," and the opposite direction is defined as "rearward." Furthermore, the right side of the tractor's direction of travel is defined as right, and the left side is defined as left. The direction perpendicular to the front-to-back and left-to-right directions of the tractor is defined as up-to-down. In this case, the direction of gravity is defined as down, and the opposite side is defined as up. Furthermore, the plane perpendicular to the up-to-down direction is defined as the horizontal plane, and the direction along the horizontal plane is defined as the horizontal direction. Note that the above directions are simply names used for the purpose of explanation and are not intended to limit the actual positional relationships or directions.

[0012] <1. Overview of the work vehicle> Fig. 1 is a side view showing the general configuration of a work vehicle 1 according to an embodiment of the present invention. Fig. 2 is a plan view showing the general configuration of a work vehicle 1 according to an embodiment of the present invention. As shown in Fig. 1, the work vehicle 1 comprises a vehicle body 2, wheels 3, a prime mover 4, and a power transmission unit 5.

[0013] As shown in Figures 1 and 2, the wheels 3 have front wheels 3a and rear wheels 3b. The front wheels 3a are arranged on the left and right sides of the front of the vehicle body 2. The rear wheels 3b are arranged on the left and right sides of the rear of the vehicle body 2. The vehicle body 2 is provided so that it can 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 tractor, and may also be a crawler-type tractor that travels using crawlers.

[0014] The prime mover 4 is disposed in the front of the vehicle body 2 and is covered by a hood 6. In this embodiment, the prime mover 4 is an engine. The engine may be, for example, a diesel engine, a gasoline engine, a hydrogen engine, or a gas engine. However, the prime mover 4 may be something other than an engine, such as a motor.

[0015] The power transmission unit 5 is disposed behind the prime mover 4. The power transmission unit 5 transmits the power of the prime mover 4 to the wheels 3. Specifically, the power of the prime mover 4 is transmitted to at least one of the front wheels 3a and the rear wheels 3b via the power transmission unit 5. In this embodiment, the power of the prime mover 4 is transmitted to the front wheels 3a and the rear wheels 3b via the power transmission unit 5. Specifically, the power transmission unit 5 has a transmission case 212 in which a transmission is disposed. In addition to or instead of the transmission case 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 reducer, and a case that houses such power transmission elements, for example.

[0016] The vehicle body 2 has a base portion 21 to which the wheels 3 are attached, and a riding portion 22 supported by the base portion 21. In other words, the work vehicle 1 is equipped with the base portion 21 and the riding portion 22.

[0017] In detail, the base unit 21 has a base frame 211, a transmission case 212 included in the power transmission unit 5, a front axle 213, and a rear axle 214. The front axle 213 has a front wheel axle (not shown) to which the front wheels 3a are attached. The rear axle 214 has a rear wheel axle (not shown) to which the rear wheels 3b are attached. The transmission case 212 and the front axle 213 are attached to the base frame 211. The rear axle 214 is attached to the transmission case 212. The base frame 211 supports the prime mover 4.

[0018] The riding section 22 is the portion of the vehicle body 2 on which the driver (operator) rides, and is provided behind the prime mover 4. The riding section 22 is also provided above the power transmission section 5. The riding section 22 has a seat section 221, a steering section 222, and a dashboard section 223. In other words, the work vehicle 1 is equipped with the seat section 221, the steering section 222, and the dashboard section 223.

[0019] The seat section 221 is where the driver of the work vehicle 1 sits. The steering section 222 constitutes a device that allows the driver sitting in the seat section 221 to steer the work vehicle 1. More specifically, the steering section 222 has a steering wheel 222a and a steering column 222b. The steering wheel 222a is the part that is operated by the driver and is configured in a circular shape. The steering wheel 222a is rotatably supported by a steering shaft (not shown) that is arranged inside the steering column 222b that is located below the steering wheel 222a. By rotating the steering wheel 222a, the direction of the front wheels 3a can be changed.

[0020] The dashboard section 223 is provided at the front of the riding section 22. In detail, at least a portion of the dashboard section 223 is disposed in front of the steering column 222b. The dashboard section 223 is provided with a meter panel (instrument board) that visualizes values ​​measured by various instruments, including the speed of the work vehicle 1, and various levers, switches, etc. for operating the work vehicle 1.

[0021] Additionally, levers, pedals, etc. are arranged around the seat section 221 in the riding section 22 for operating the work vehicle 1 itself and a work implement (not shown) attached to the rear of the work vehicle 1. Furthermore, an operating section 224 used when causing the work vehicle 1 to travel automatically is arranged in front of the seat section 221 in the riding section 22. Note that automatic traveling means that at least steering is performed autonomously, with devices related to traveling being controlled by a control device (not shown). In automatic traveling, in addition to steering, for example, at least one of adjusting vehicle speed and performing work using a work implement may be performed autonomously.

[0022] In this embodiment, a ROPs frame 7 is provided behind the seat section 221. The ROPs frame 7 can protect the driver when the work vehicle 1 rolls over.

[0023] A work implement coupling section 8, which is configured, for example, by a three-point linkage mechanism, is provided at the rear of the vehicle body 2. The work implement coupling section 8 is provided so that a work implement can be detachably attached. Only one type of work implement may be attached to the work implement coupling section 8, but preferably multiple types are attached. Examples of work implements include cultivators, plows, fertilizer applicators, pesticide sprayers, harvesters, and reapers. A lifting device 9 (see FIG. 8 described later) having a hydraulic device such as a lifting cylinder is provided at the rear of the vehicle body 2. The lifting device 9 raises and lowers the work implement coupling section 8, thereby raising and lowering the work implement attached to the work implement coupling section 8. Power generated by the prime mover 4 can be transmitted to the work implement via a power take-off shaft (PTO shaft; not shown) extending from the power transmission section 5 toward the rear of the vehicle body 2. In other words, the work implement can be operated by the prime mover 4. The work implement may be driven by a drive device separate from the prime mover 4.

[0024] <2. Composition of the boarding section> The configuration of the riding section 22 provided in the work vehicle 1 will be described in further detail. Fig. 3 is a perspective view showing the general configuration of the riding base 220 that constitutes the riding section 22. Fig. 4 is a diagram showing a state in which a seat section 221 is attached to the riding base 220 shown in Fig. 3. Fig. 5 is a side view showing the general configuration of the riding base 220 that constitutes the riding section 22.

[0025] The boarding base 220 is a base portion of the riding section 22. The above-mentioned seat section 221, steering section 222, dashboard section 223, etc. are arranged on the boarding base 220. As shown in FIGS. 3 to 5 , the boarding base 220 has a riding section frame 2201, a floor 2202, a riding section front wall 2203, a riding section rear wall 2204, and left and right riding section side walls 2205. In other words, the riding section 22 has the riding section frame 2201, the floor 2202, the riding section front wall 2203, the riding section rear wall 2204, and left and right riding section side walls 2205.

[0026] The riding section frame 2201 is a framework of the riding section 22. The floor 2202, the riding section front wall 2203, the riding section rear wall 2204, and the left and right riding section side walls 2205 are supported by the riding section frame 2201. The ROPS frame 7 described above is supported by the riding section frame 2201.

[0027] The floor 2202 forms the floor surface of the riding section 22. In other words, the floor 2202 forms the bottom wall of the riding section 22. The floor 2202 may be formed of a single member (floor member), but in this embodiment, it is formed of multiple members (floor members). In detail, the floor 2202 has a lower floor 2202a, an upper floor 2202b, and a connecting floor 2202c that connects the lower floor 2202a and the upper floor 2202b. The lower floor 2202a and the upper floor 2202b extend horizontally. The lower floor 2202a is positioned at a lower height position in the up-down direction than the upper floor 2202b. The connecting floor 2202c connects the rear end of the lower floor 2202a and the front end of the upper floor 2202b.

[0028] As shown in Fig. 4, the seat 221 is disposed on the upper floor 2202b. That is, the seat 221 is supported by the floor 2202. When driving the work vehicle 1, the driver sitting in the seat 221 places his or her feet on the lower floor 2202a to drive the work vehicle 1. A floor mat may be placed on the upper surface of the lower floor 2202a.

[0029] The riding section front wall 2203 is erected in the left-right center of the front end of the riding section 22. More specifically, the riding section front wall 2203 is a partition wall that prevents high-temperature air inside the bonnet 6 from flowing into the riding section 22. In other words, the riding section front wall 2203 is a so-called air cut plate.

[0030] The riding section rear wall 2204 is arranged behind the seat section 221 so as to face the rear surface of the seat section 221. That is, the riding section 22 has the riding section rear wall 2204 arranged behind the seat section 221. In detail, the riding section rear wall 2204 extends upward from the rear end of the upper floor 2202b. In this embodiment, the riding section rear wall 2204 is made of the same material as the material that makes up the upper floor 2202b, but it may be made of a material separate from the upper floor 2202b. The left and right riding section side walls 2205 are arranged on the left and right of the upper floor 2202b. The left and right riding section side walls 2205 are arranged so as to sandwich the seat section 221 arranged on the upper floor 2202b in the left-right direction.

[0031] As shown in FIG. 5 , the boarding base 220 configured as described above is disposed on the base portion 21 via the vibration-isolating member 10. That is, the base portion 21 supports the boarding portion 22 via the vibration-isolating member 10. The vibration-isolating member 10 is, for example, a rubber member. In this embodiment, a vibration-isolating rubber (vibration-isolating member) 10 is disposed between (in the vertical direction) the base frame 211 constituting the base portion 21 and the boarding portion frame 2201 supported from below by the base frame 211. More specifically, the vibration-isolating rubber 10 is disposed between the base frame 211 and a mount portion 2201c provided on the lower part of the boarding portion frame 2201. The vibration-isolating effect of the vibration-isolating member 10 can suppress transmission of vibrations (traveling vibrations) generated as the work vehicle 1 travels to the boarding portion 22. That is, the vibration-isolating effect of the vibration-isolating member 10 can suppress shaking of electrical components and the like disposed on the boarding portion 22 due to traveling vibrations.

[0032] <3. Quantum Compass> [3-1. Overview] As described above, in this embodiment, the work vehicle 1 is configured to be capable of autonomous driving. To enable the work vehicle 1 to drive autonomously, position information of the vehicle (host vehicle) is required. To enable the host vehicle's position information to be acquired, the work vehicle 1 of this embodiment is equipped with a quantum compass 11 (see FIG. 9A, etc., described below). Note that in this embodiment, the work vehicle 1 is configured to be equipped with a quantum compass 11 for acquiring position information in order to enable autonomous driving, but this is merely an example. For example, the work vehicle 1 may be equipped with a quantum compass that enables the acquisition of position information for other reasons, such as recording work information by the work vehicle 1 or preventing theft.

[0033] The quantum compass 11 is an electrically powered electrical component capable of measuring latitude and longitude. The quantum compass 11 is attached to the work vehicle 1 as an electrical component. The quantum compass 11 is not subject to restrictions on placement related to communication, as is the case when satellite information is used to acquire location information. For example, the quantum compass 11 can be placed in a location other than the top of the work vehicle 1, and can also be placed inside the vehicle. However, because the quantum compass 11 is an electrical component, it is preferable that it be placed in a location that is not exposed to, for example, rain, mud, exhaust fumes, etc. Taking these points into consideration, in this embodiment, the placement of the quantum compass 11 has been devised. Details of the placement of the quantum compass 11 will be described below using several examples.

[0034] In this embodiment, the work vehicle 1 is provided with one quantum compass 11. However, the work vehicle 1 may be provided with multiple quantum compasses 11. For example, two quantum compasses 11 may be arranged symmetrically front to back or left to right, and multiple quantum compasses 11 may be used for attitude control of the work vehicle 1.

[0035] Furthermore, the arrangement of the quantum compass 11 described below is not limited to a work vehicle 1 in which the driver's riding space formed by the riding section 22 is open to the outside, as in this embodiment, but can also be applied to a work vehicle 1A in which the riding section 22A is configured as a cabin type, as shown in Fig. 6. Note that Fig. 6 is a side view showing the general configuration of another form of work vehicle 1A to which the present invention can be applied. Furthermore, in a cabin-type work vehicle 1A, the driver's riding space formed by the riding section 22A is a room type space that is partitioned off from the outside.

[0036] Similar to the work vehicle 1 described above, the work vehicle 1A having a cabin-type riding section 22A also comprises a vehicle body 2, wheels 3, a prime mover 4, and a power transmission section 5. The vehicle body 2 has a base section 21 including a transmission case and the like, and a riding section (cabin) 22A supported by the base section 21. Although hidden by the outer wall of the riding section 22A in FIG. 6 and not visible, the riding section 22A is provided with a seat section 221, a steering section 222, and a dashboard section 223 in the same configuration as in the work vehicle 1 described above. Similar to the work vehicle 1 described above, the riding section 22A is supported by the base section 21 via vibration-isolating members 10 (see FIG. 5).

[0037] Figure 7 is a perspective view showing the general configuration of the boarding base 220A in the cabin-type work vehicle 1A shown in Figure 6. Note that in Figure 7, for the purpose of facilitating understanding, a seat section 221 is attached to the boarding base 220A. As can be seen by comparing Figure 7 with the above-mentioned Figure 4, the boarding base 220A of the cabin-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, just like in the case of the above-mentioned work vehicle 1.

[0038] As can be seen from the above explanation, the cabin-type work vehicle 1A has a configuration similar to that of the work vehicle 1 of this embodiment. For this reason, it should be noted in advance that the arrangement of the quantum compass 11 described below is applicable not only to the work vehicle 1 of this embodiment, but also to the cabin-type work vehicle 1A. Furthermore, in the following, unless there is a particular need for such explanation, explanations related to the cabin-type work vehicle 1A will be omitted.

[0039] [3-2. Details of the quantum compass layout] FIG. 8 is a schematic diagram showing the relationship between the floor 2202 and the power transmission unit 5. Note that FIG. 8 also shows some other components of the work vehicle 1 to facilitate understanding of the relationship between the floor 2202 and the power transmission unit 5. In detail, FIG. 8 shows the rear wall 2204 of the riding section that is connected to the rear end of the floor 2202, and the seat section 221 that is arranged on the floor 2202 (specifically, the upper floor 2202b). Also shown in FIG. 8 are the rear axle 214 that is arranged on the side of the transmission case 212 that constitutes the power transmission unit 5, and the lifting device 9 that is arranged above the rear of the transmission case 212.

[0040] As shown in FIG. 8, the power transmission unit 5 is disposed below the floor 2202. Although detailed examples are disclosed in the drawings from FIG. 9 onwards, the quantum compass 11 is preferably disposed below the floor 2202. It is more preferable that the quantum compass 11 be disposed between the floor 2202 and the power transmission unit 5. Note that the configuration in which the quantum compass 11 is disposed between the floor 2202 and the power transmission unit 5 broadly includes a configuration in which the quantum compass 11 is disposed between the floor 2202 and the power transmission unit 5 in a side view. Furthermore, the configuration in which the quantum compass 11 is disposed between the floor 2202 and the power transmission unit 5 also includes a configuration in which at least a portion of the quantum compass 11 is disposed between the floor 2202 and the power transmission unit 5. Furthermore, the power transmission unit 5 is preferably the transmission case 212.

[0041] If the quantum compass 11 is configured to be disposed between the floor 2202 and the power transmission unit 5 in the vertical direction, the quantum compass 11 can be disposed in a position where it is less likely to be exposed to rain or mud, thereby protecting the quantum compass 11, which is an electronic component. Furthermore, with this configuration, the quantum compass 11 can be disposed in a position in the vehicle where it is difficult for people to touch, preventing a person (such as a driver) riding in the riding unit 22 from accidentally touching the quantum compass 11. Furthermore, with this configuration, the quantum compass 11 is disposed in a position where it is difficult to see from the outside, thereby preventing deterioration of the interior design of the riding unit 22. Furthermore, with this configuration, the quantum compass 11 can be disposed in a position surrounded by the front, rear, left, and right wheels 3 (four wheels 3). Therefore, the quantum compass 11 can be disposed as close as possible to the control point during autonomous driving, thereby reducing errors in vehicle position measurement using the quantum compass 11 and enabling autonomous driving control. The control point during autonomous driving is, for example, the center position of the four wheels 3.

[0042] Furthermore, the quantum compass 11, which is placed between the floor 2202 and the power transmission unit 5, is preferably placed on the bisector (center line) CL (see FIG. 2) that bisects the work vehicle 1 in the left-right direction in a plan view. This makes it possible to reduce the positional deviation of the quantum compass 11 from the control point during autonomous driving, and to prevent the process of determining the vehicle's position using the quantum compass 11 from becoming complicated. In other words, the control process for autonomous driving can be simplified.

[0043] The following describes the layout structure of the quantum compass 11 disposed between the floor 2202 and the power transmission unit 5, showing a specific example.

[0044] (3-2-1. First Example) Fig. 9A is a side view schematically showing a first embodiment of the arrangement of quantum compasses 11. Fig. 9B is a rear view schematically showing the first embodiment of the arrangement of quantum compasses 11. Note that Fig. 9B omits the lifting device 9 and rear axle 214 shown in Fig. 9A.

[0045] 9A and 9B, in the first embodiment, the quantum compass 11 is supported by the floor 2202. Specifically, the quantum compass 11 is attached to the underside of the floor 2202. More specifically, the quantum compass 11 is attached to the underside of the upper floor 2202b on which the seat section 221 is arranged. The method of attaching the quantum compass 11 to the floor 2202 is not particularly limited, but may be a method using a fastener such as a bolt, or adhesive, etc.

[0046] The floor 2202 is included in the riding section 22. As described above, the riding section 22 is supported by the base section 21 via the vibration-isolating member 10 (see FIG. 5 ) and has a vibration-isolating structure. For this reason, it can be said that the floor 2202 also has a vibration-isolating structure. That is, in the configuration of the first embodiment, the quantum compass 11 is supported on the floor 2202, which has a vibration-isolating structure. For this reason, with the configuration of the first embodiment, it is possible to prevent a decrease in the accuracy of position measurement by the quantum compass 11 due to vibrations caused by the running of the work vehicle 1.

[0047] In the configuration of the first embodiment, the quantum compass 11 is preferably placed in the center of the upper floor 2202b in the left-right direction. This allows the quantum compass 11 to be placed on the left-right center line CL (see FIG. 2) of the work vehicle 1 in a plan view. As a result, the positional deviation of the quantum compass 11 from the control point during autonomous driving can be reduced, simplifying the control process.

[0048] 10 showing a modified example of the first embodiment, the quantum compass 11 attached to the floor 2202 may be covered by a cover member 12 made of, for example, sheet metal or resin. In other words, the work vehicle 1 may be configured to include a cover member 12 that covers the quantum compass 11. This improves the protection function of the quantum compass 11 from mud and water. Note that the cover member 12 is preferably provided detachably with respect to the floor 2202.

[0049] (3-2-2. Second Example) Fig. 11A is a side view schematically showing a second embodiment of the arrangement of quantum compasses 11. Fig. 11B is a rear view schematically showing the second embodiment of the arrangement of quantum compasses 11. Note that Fig. 11B omits the lifting device 9 and rear axle 214 shown in Fig. 11A.

[0050] 11A and 11B, in the second embodiment, as in the first embodiment, the quantum compass 11 is supported by the floor 2202. However, in the second embodiment, the quantum compass 11 is supported by the floor 2202 via a support member 13. The quantum compass 11 is supported by the floor 2202 while attached to the support member 13.

[0051] By configuring the quantum compass 11 so that it is indirectly attached to the floor 2202 via the support member 13 rather than directly to the floor 2202, it is possible to increase the degree of freedom in the placement of the quantum compass 11 relative to the floor 2202. In addition, the support strength of the quantum compass 11 can be improved.

[0052] In the second embodiment, the support member 13 includes a flat plate portion 131 to which the quantum compass 11 is attached, and left and right arm portions 132 that attach the flat plate portion 131 to the floor 2202. The quantum compass 11 may be attached to the flat plate portion 131 by adhesive bonding or by using fasteners such as bolts. The flat plate portion 131 extends horizontally. The left and right arm portions 132 extend upward from the flat plate portion 131 and are attached to the floor 2202 by using bolts 133. However, the shape of the support member 13 may be different from this configuration and may be a simple flat plate or the like. Furthermore, the support member 13 may not be attached to the floor 2202 using fasteners, but may be integrated with the floor 2202 by welding or the like.

[0053] In this example, quantum compass 11 may also be covered with a cover member. In this case, the cover member is preferably detachably attached to support member 13. Furthermore, quantum compass 11 is preferably placed in the center of the upper floor 2202b in the left-right direction in a plan view.

[0054] (3-2-3. Third Example) 12 is a rear view schematically illustrating a third embodiment of the arrangement of the quantum compass 11. As shown in FIG. 12, in the third embodiment, the quantum compass 11 is supported by the riding section frame 2201 that constitutes the riding section 22. As described above, the riding section frame 2201 is a frame that supports the floor 2202. Even with this configuration, the quantum compass 11 can be arranged in an appropriate position between the floor 2202 and the power transmission section 5, for example, so that the quantum compass 11 can be arranged in a position that is protected from rain and mud.

[0055] Furthermore, since the riding section 22 has a vibration-proof structure as described above, it can be said that the riding section frame 2201 also has a vibration-proof structure. That is, in the configuration of the third embodiment, the quantum compass 11 is supported on the riding section frame 2201, which has a vibration-proof structure. For this reason, with the configuration of the third embodiment, it is possible to prevent a decrease in the accuracy of position measurement by the quantum compass 11 due to vibrations caused by the work vehicle 1 while traveling.

[0056] 12, specifically, the quantum compass 11 is supported by a boarding section bridge frame 2201b that bridges between boarding section side frames 2201a that extend in the left and right up and down directions. The quantum compass 11 is preferably disposed in the center of the boarding section bridge frame 2201b in the left and right direction. This allows the quantum compass 11 to be disposed on the left and right center line CL (see FIG. 2) of the work vehicle 1 in a plan view. The quantum compass 11 may be attached to the boarding section bridge frame 2201b by, for example, using a fastener such as a bolt, or by adhesive bonding.

[0057] Fig. 13 is a diagram showing a first modified example of the arrangement of the quantum compass in the third embodiment. As shown in Fig. 13, the quantum compass 11 supported by the riding section frame 2201 may be arranged on either the left or right riding section side frame 2201a. In the example shown in Fig. 13, the quantum compass 11 is arranged on the left riding section side frame 2201a.

[0058] In a configuration in which the quantum compass 11 is disposed on either the left or right boarding side frame 2201a, the quantum compass 11 is disposed at a position offset from the center line CL (see FIG. 2) in the left-right direction of the work vehicle 1 in a planar view. For this reason, for example, if the control point for autonomous driving is on the center line CL in the left-right direction of the work vehicle 1 in a planar view, it is necessary to calculate the vehicle position by correcting the position measured by the quantum compass 11 for the offset in the left-right direction (the offset from the center line CL).

[0059] FIG. 14 is a diagram showing a second modified example of the quantum compass arrangement in relation to the third embodiment. As shown in FIG. 14, the quantum compass 11 may be supported by either the left or right riding section side frame 2201a via a support member 13A. That is, the quantum compass 11 may be configured to be supported by the riding section frame 2201 via the support member 13A. By configuring the quantum compass 11 to be indirectly attached to the riding section frame 2201 via the support member 13A in this way, the degree of freedom in the arrangement of the quantum compass 11 relative to the riding section frame 2201 can be increased. Furthermore, the support strength of the quantum compass 11 can be improved. The quantum compass 11 can be attached to the support member 13A by, for example, using a fastener such as a bolt, or by adhesive bonding.

[0060] 12, quantum compass 11 may be supported by riding section bridge frame 2201b via a support member. Furthermore, in the configurations of the third embodiment and its modified examples (first and second modified examples), quantum compass 11 may be covered by a cover member. It is preferable that the cover member be detachable from riding section frame 2201 and support member 13A.

[0061] (3-2-4. Fourth Example) Fig. 15 is a rear view schematically showing a fourth embodiment of the arrangement of quantum compass 11. As shown in Fig. 15, in the fourth embodiment, quantum compass 11 is supported by mount portion 2201c of riding section 22. Mount portion 2201c corresponds to a portion (mounting portion) of riding section 22 for mounting to base section 21 via vibration-isolating member 10.

[0062] In the fourth embodiment, too, the quantum compass 11 can be positioned at an appropriate location between the floor 2202 and the power transmission unit 5. Furthermore, because the boarding unit 22 has a vibration-proof structure as described above, it can be said that the mount unit 2201c also has a vibration-proof structure. That is, in the configuration of the fourth embodiment, the quantum compass 11 is supported by the mount unit 2201c, which has a vibration-proof structure. For this reason, with the configuration of the fourth embodiment, it is possible to prevent a decrease in the accuracy of position measurement by the quantum compass 11 due to vibrations caused by the work vehicle 1 while traveling.

[0063] The quantum compass 11 may be attached to the mount 2201c by, for example, using a fastener such as a bolt, or by adhesive bonding. Also, in the fourth embodiment, the quantum compass 11 may be covered by a cover member. It is preferable that the cover member be detachable from the mount 2201c.

[0064] (3-2-5. Fifth Example) FIG. 16 is a side view schematically showing a fifth embodiment of the arrangement of the quantum compass 11. As shown in FIG. 16, 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. With this configuration, the quantum compass 11 can be arranged at a low position on the work vehicle 1, and errors in position accuracy that occur when the work vehicle 1 tilts can be reduced. In other words, autonomous driving can be appropriately controlled.

[0065] The quantum compass 11 may be attached to the transmission case 212 by, for example, using a fastener such as a bolt, or by adhesive. The quantum compass 11 supported by the power transmission unit 5 is preferably positioned on the center line CL (see FIG. 2) between the left and right sides of the work vehicle 1 in a plan view. This reduces the positional deviation of the quantum compass 11 from the control point during autonomous driving, simplifying the control process.

[0066] 17, quantum compass 11 is preferably supported by power transmission unit 5 via support member 13B. By using such a configuration with support member 13B interposed, it is possible to increase the degree of freedom in arranging quantum compass 11 relative to power transmission unit 5. It is also possible to improve the support strength of quantum compass 11. Note that FIG. 17 is a diagram showing a modification of the arrangement of quantum compass 11 with respect to the fifth embodiment. Quantum compass 11 can be attached to support member 13B by, for example, using a fastener such as a bolt, or by adhesion.

[0067] The example shown in FIG. 17 illustrates a case where the support member 13B is an elevator device 9. That is, the example shown in FIG. 17 is configured to use an existing component as the support member 13B. However, instead of using an existing component, the support member 13B may be a component provided for supporting the quantum compass 11. A component (support member) provided exclusively for supporting the quantum compass 11 may have any shape, such as a flat plate, and may be attached to the transmission case 212 by welding or using a fastener.

[0068] (3-2-6. Sixth Example) FIG. 18 is a side view schematically illustrating a sixth embodiment of the arrangement of the quantum compass 11. In the sixth embodiment, similar to the configuration previously shown as a modified example of the fifth embodiment, the quantum compass 11 is supported by the power transmission unit 5 (specifically, the transmission case 212) via a support member 13C. However, this differs from the fifth embodiment in that the support member 13C has a vibration-isolating member 13C2. In this configuration, the vibration-isolating member 13C2 is interposed between the quantum compass 11 and the power transmission unit 5, making it possible to prevent vibrations from the power transmission unit 5 from being transmitted to the quantum compass 11. In other words, it is possible to prevent a decrease in the accuracy of position measurement by the quantum compass 11.

[0069] In the example shown in FIG. 18, the quantum compass 11 has an attachment portion 111. The attachment portion 111 is attached to the transmission case 212 via a support member 13C, thereby supporting the quantum compass 11 on the transmission case 212. The support member 13C has a frame portion 13C1 attached to the top surface of the transmission case 212 using fasteners (such as bolts) and a vibration-isolating member 13C2 arranged on the top surface of the frame portion 13C1. The vibration-isolating member 13C2 is specifically a vibration-isolating rubber. In the example shown in FIG. 18, there are two vibration-isolating members 13C2, but this number may be one, three, or more. The presence of the vibration-isolating rubber 13C2 arranged between the attachment portion 111 and the frame portion 13C1 in the vertical direction can suppress transmission of vibrations from the transmission case 212 to the quantum compass 11.

[0070] <4. Things to keep in mind> Various modifications can be made to the various technical features disclosed in this specification without departing from the spirit of the technical creation. Furthermore, multiple embodiments, examples, and modifications shown in this specification can be combined to the extent possible.

[0071] <5. Notes> An exemplary work vehicle of the present invention may be configured (first configuration) to include a boarding 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.

[0072] In the work vehicle of the first configuration, the quantum compass may be configured to be supported on the floor (second configuration).

[0073] In the work vehicle of the second configuration, the quantum compass may be configured (third configuration) to be supported on the floor via a support member.

[0074] In the work vehicle of the first configuration, the quantum compass may be configured (fourth configuration) to be supported by a riding section frame that configures the riding section.

[0075] In the work vehicle of the fourth configuration, the quantum compass may be supported by the riding section frame via a support member (fifth configuration).

[0076] The work vehicle of any one of the first to fifth configurations may be configured (sixth configuration) to include a base portion that supports the riding portion via a vibration-isolating member.

[0077] In the work vehicle of the first configuration, the quantum compass may be supported by the power transmission section via a support member (seventh configuration).

[0078] In the work vehicle of the seventh configuration, the support member may have a vibration-isolating member (eighth configuration).

[0079] The work vehicle of any one of the first to eighth configurations above may be configured (ninth configuration) to include a cover member that covers the quantum compass. [Explanation of symbols]

[0080] 1, 1A...Work vehicle 5. Power transmission section 10, 13C2... Vibration-isolating member 11. Quantum Compass 12 Cover member 13, 13A, 13B, 13C... Support member 21 Base 22, 22A... Boarding area 2201, 2201A... Boarding frame 2202, 2202A Floor

Claims

1. a boarding section having a floor; a power transmission unit disposed below the floor; a quantum compass disposed between the floor and the power transmission unit; A work vehicle equipped with:

2. The work vehicle of claim 1 , wherein the quantum compass is supported on the floor.

3. The work vehicle according to claim 2 , wherein the quantum compass is supported on the floor via a support member.

4. The work vehicle according to claim 1 , wherein the quantum compass is supported by a riding section frame that constitutes the riding section.

5. The work vehicle according to claim 4 , wherein the quantum compass is supported on the riding section frame via a support member.

6. The work vehicle according to claim 1 , further comprising a base portion that supports the riding portion via a vibration-isolating member.

7. The work vehicle according to claim 1 , wherein the quantum compass is supported by the power transmission section via a support member.

8. The work vehicle according to claim 7 , wherein the support member has a vibration isolation member.

9. The work vehicle according to claim 1 , further comprising a cover member that covers the quantum compass.

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