Work vehicle

Abstract

To provide technology that is suitable for a work vehicle having a positioning function.SOLUTION: An exemplary work vehicle includes a traveling part, a vehicle body provided above the traveling part and having an operation part, and a quantum compass provided at the operation part, wherein the quantum compass is provided at a position on the left-right direction central side of the vehicle body within the operation part.SELECTED DRAWING: Figure 4

Description

[Technical Field]

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

[0002] Conventionally, work vehicles have been known that have the function of acquiring their own vehicle's location information for purposes such as automatic driving, recording of work information, or theft prevention. Positioning satellites have traditionally been used to acquire the vehicle's location information. Patent Document 1 discloses a combine harvester that is configured to detect its position by providing a receiving device capable of receiving radio waves from a GPS satellite (positioning satellite) on the top surface of the cabin, and that automatically drives to a preset position based on the signal received by the receiving device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2001-69836 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 accuracy of the acquired position information can be reduced due to the influence of the communication environment. Furthermore, the operating environment of a work vehicle is harsher than that of a normal automobile, for example, there is a lot of dust and dirt, and vibrations during operation tend to be large. In other words, when installing a positioning device on a work vehicle, it is necessary to take into account the harsh operating environment.

[0005] Furthermore, for example, when controlling automatic driving using positioning data, the positioning data is corrected to become information corresponding to a reference point (control point) of control. It is desirable to be able to reduce the burden of this correction process.

[0006] An object of the present invention is to provide a technology suitable for a work vehicle equipped with a positioning function. [Means for solving the problem]

[0007] An exemplary combine harvester of the present invention comprises a running section, a body section provided above the running section and having a control section, and a quantum compass provided in the control section, the quantum compass being provided in a position on the control section that is central to the left and right of the body section. [Effects of the Invention]

[0008] According to an exemplary combine of the present invention, it is possible to appropriately acquire its own position information. [Brief explanation of the drawings]

[0009] [Figure 1] Left side view showing the exterior of the combine harvester [Figure 2] Plan view showing the exterior of the combine harvester [Figure 3] A schematic perspective view showing the interior configuration of the cabin [Figure 4] A plan view showing the positional relationship between the control unit and a pair of left and right crawlers. [Figure 5] Side view showing example details of quantum compass placement [Figure 6] FIG. 6 is a schematic cross-sectional view taken along the line VI-VI in FIG. 5; [Figure 7] FIG. 7 is a diagram showing a modification of the configuration shown in FIG. 6. [Figure 8] A plan view illustrating the layout of the quantum compass shown in Figure 5. [Figure 9] Schematic diagram for explaining a modified example of the quantum compass arrangement DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0011] The work vehicle according to the embodiment of the present invention is a combine harvester. However, this is merely an example. The work vehicle may be an agricultural work machine other than a combine harvester, such as a tractor. 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.

[0012] In addition, directions are defined as follows in this specification. First, the direction in which a combine harvester as a work vehicle travels during operation is defined as "forward," and the opposite direction is defined as "rearward." Furthermore, the right side of the combine harvester when facing the direction of travel during operation 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 combine harvester 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 explanation and are not intended to limit the actual positional relationships and directions.

[0013] <1. Overview of the combine harvester> Fig. 1 is a left side view showing the exterior of the combine harvester 100. Fig. 2 is a plan view showing the exterior of the combine harvester 100. As shown in Figs. 1 and 2, the combine harvester 100 includes a body section 1, a traveling section 2, and a reaping section 3.

[0014] The body section 1 is provided above the running section 2. The body section 1 has a body frame 11. That is, the combine harvester 100 has the body frame 11 arranged above the running section 2. A threshing section 4, a sorting section 5, a storage section 6, and a control section 7 are provided on the body frame 11. That is, the body section 1 has the threshing section 4, the sorting section 5, the storage section 6, and the control section 7. The combine harvester 100 further has the threshing section 4, the sorting section 5, the storage section 6, and the control section 7.

[0015] The traveling section 2 is provided below the body frame 11 and supports the body frame 11. The reaping section 3 is provided in front of the body frame 11. While traveling on the traveling section 2, the combine harvester 100 threshes the stalks harvested by the reaping section 3 in the threshing section 4, sorts the grain in the sorting section 5, and stores it in the storage section 6. The combine harvester 100 drives the traveling section 2, reaping section 3, threshing section 4, sorting section 5, and storage section 6 using power supplied from a power section (not shown).

[0016] In this embodiment, the power unit is configured to generate power using an engine such as a diesel engine, but the power source of the power unit is not limited to an engine and may be another device such as a motor. The power unit may be located, for example, below the driver's seat 72 (see FIG. 3) described below or behind the grain tank 61 (see FIG. 1, etc.) described below. Furthermore, while the combine harvester 100 of this embodiment is a so-called normal type combine harvester, this is merely an example, and the present invention may also be applied to so-called head-feeding type combine harvesters.

[0017] The traveling unit 2 includes a pair of left and right crawlers 21. The pair of left and right crawlers 21 are provided below the machine frame 11. The crawlers 21 rotate by power generated by a power unit (not shown). The rotational drive of the left and right crawlers 21 is controlled independently to move forward, backward, and turn left and right. Note that the traveling method of the work vehicle to which the present invention is applied is not limited to the crawler method, and may be another method such as a wheel method.

[0018] The reaping unit 3 is provided in front of the traveling unit 2. The reaping unit 3 has a reel 31, a cutter 32, an auger 33, and a conveyor 34. The reel 31 rotates to guide the stalks in the field to the cutter 32. The cutter 32 cuts the stalks guided by the reel 31. The auger 33 collects the stalks cut by the cutter 32 onto the conveyor 34. The conveyor 34 transports the stalks collected by the auger 33 to the threshing unit 4.

[0019] The threshing unit 4 is located behind the reaping unit 3 and on one side of the machine body 1 in the left-right direction (the left side in this embodiment). The threshing unit 4 has a threshing drum 41 and a receiving net 42 inside. The threshing drum 41 rotates to thresh the stalks and transport them rearward. The receiving net 42 supports the stalks transported by the threshing drum 41 and drops the threshed material into the sorting unit 5.

[0020] The sorting section 5 is provided below the threshing section 4. The sorting section 5 is equipped with a oscillating sorting device 51 and a wind sorting device 52. The oscillating sorting device 51 is equipped with a oscillating sieve and separates the threshed grains that have fallen from the threshing section 4 into grains and straw chips. The wind sorting device 52 blows away impurities such as straw chips contained in the threshed grains that have been sorted by the oscillating sorting device 51. The impurities are discharged to the outside from a discharge outlet (not shown) provided behind the sorting section 5.

[0021] The storage section 6 comprises a grain tank 61 and a discharge device 62. The grain tank 61 is provided to the right of the threshing section 4 (more specifically, the threshing section 4 and the sorting section 5). In other words, the threshing section 4 and the grain tank 61 are arranged side by side on the body frame 11. The storage section 6 also comprises a grain conveying device (not shown) that conveys grains sorted by the oscillating sorting device 51 and the wind sorting device 52 to the grain tank 61. The grain tank 61 stores grains transported by the grain conveying device (not shown). The discharge device 62 discharges the grains stored in the grain tank 61 to any location.

[0022] The discharge device 62 comprises a vertical cylinder portion 621 whose longitudinal direction is the up-down direction, and a horizontal cylinder portion 622 whose longitudinal direction is the horizontal direction. The vertical cylinder portion 621 is disposed behind the grain tank 61. The lower end of the vertical cylinder portion 621 is connected to the grain tank 61. One end (rear end) of the horizontal cylinder portion 622 is connected to the upper end of the vertical cylinder portion 621. An auger (not shown) is provided inside the vertical cylinder portion 621 and the horizontal cylinder portion 622.

[0023] The horizontal cylinder portion 622 can rotate around the vertical cylinder portion 621 as an axis. Furthermore, the horizontal cylinder portion 622 is connected to the vertical cylinder portion 621 so as to be rotatable in the up and down direction. That is, the horizontal cylinder portion 622 can also swing in a vertical plane. By utilizing this rotation and swing, the end portion (tip portion) 622a of the horizontal cylinder portion 622 opposite the side connected to the vertical cylinder portion 621 can be moved appropriately to match the location where grain is to be discharged. The location where grain is to be discharged is, for example, a truck parked on the right side of the combine harvester 100 for loading grain.

[0024] The position of the horizontal tube portion 622 shown in Figures 1 and 2 is the position when grain is not being discharged, and is a position where the horizontal tube portion 622 is assumed to be stored so as not to get in the way. In other words, the horizontal tube portion 622 can be stored in the storage position when not in use and not discharging grain. The horizontal tube portion 622 is an example of a discharge auger that discharges grain outside the combine harvester. In other words, the combine harvester 100 is equipped with a discharge auger 622 that can be stored in the storage position when not in use. Hereinafter, the horizontal tube portion 622 will be referred to as the discharge auger 622. The discharge auger 622 placed in the storage position is placed on an auger rest 623 (see Figure 1).

[0025] Furthermore, the grain tank 61 can be rotated left and right around the vertical cylinder portion 621, as shown by the dashed line in Fig. 2. In this embodiment, the grain tank 61 can be changed from the closed state shown by the solid line in Fig. 2 to the open state shown by the dashed line by rotating it to the right. The ability to change the grain tank 61 to the open state can improve the workability of maintenance work.

[0026] The control unit 7 is provided above the front of the body frame 11 and in front of the storage unit 6. The control unit 7 is the part where an operator who controls (drives) the combine harvester 100 sits. More specifically, the control unit 7 has a cabin 71. In other words, the combine harvester 100 has a body unit 1 that has the cabin 71. The cabin 71 forms an interior space that the operator can enter and exit. In this embodiment, the control unit 7 has the cabin 71, but this configuration is not essential. The control unit 7 may also be configured without the cabin 71. In other words, the control unit 7 does not have to be a room-type structure separated from the outside.

[0027] Fig. 3 is a schematic perspective view showing the internal configuration of the cabin 71. In Fig. 3, in order to make it easier to understand the internal configuration of the cabin 71, the door for the operator to enter and exit, which is provided on the right side of the cabin 71, and the windshield, which is provided in front of the cabin 71, are omitted.

[0028] As shown in Fig. 3, a driver's seat 72 and a plurality of operating units 73 are provided inside the cabin 71. The driver's seat 72 is where an operator who operates the combine harvester 100 sits. The plurality of operating units 73 are units that enable the operator to steer the combine harvester 100. In detail, the plurality of operating units 73 include a handle operating unit 731 and a lever operating unit 732.

[0029] The handle operation unit 731 is disposed in front of the driver's seat 72. The handle operation unit 731 has a steering handle 731a and a front column 731b. The steering handle 731a enables the operator to steer the combine harvester 100. The steering handle 731a is attached to the upper end of a steering shaft (not shown) that extends in the vertical direction. The steering shaft is rotatably supported by the front column 731b. The front column 731b has a front column cover 731c that covers the steering shaft. The front column cover 731c may be made up of a single member, but in this embodiment it is made up of multiple members.

[0030] The lever operating unit 732 is disposed to the side of the driver's seat 72 (on the left side in this embodiment). The lever operating unit 732 has a plurality of operating levers 732a and a side column 732b. The plurality of operating levers 732a include, for example, levers for adjusting the traveling speed of the combine harvester 100. Specifically, the plurality of operating levers 732a include a main speed change lever and an auxiliary speed change lever. The plurality of operating levers 732a also include levers for operating the reaping unit 3. The side column 732b houses a lever mechanism for effectively performing the function of each operating lever 732a. The side column 732b has a side column cover 732c that covers the lever mechanism. Although the side column cover 732c may be formed from a single member, in this embodiment it is formed from multiple members.

[0031] Additionally, in this embodiment, an automatic driving setting unit 74 that performs setting operations related to automatic driving is disposed inside the cabin 71. Setting operations related to automatic driving include, for example, turning automatic driving on and off, setting automatic driving conditions, and the like. In this specification, automatic driving means that at least steering (steering operation) is performed autonomously by controlling devices related to driving with a control device (not shown). In automatic driving, in addition to steering, for example, at least one of adjusting vehicle speed and performing work by the reaping unit 3 configured as a work device may be performed autonomously.

[0032] In this embodiment, the automatic driving setting unit 74 is disposed to the side (more specifically, to the right side) of the handle operation unit 731. However, the position of the automatic driving setting unit 74 within the cabin 71 may be changed as appropriate, as long as it is disposed in a position that is easy for the operator sitting in the driver's seat 72 to operate. Note that setting operations related to automatic driving may be performed using a portable terminal device capable of wireless communication with the combine 100, in addition to the automatic driving setting unit 74.

[0033] As described above, the control unit 7 does not necessarily have to include the cabin 71. In such a configuration, the driver's seat 72 and the operating unit 73 may be exposed to the outside. Also, a canopy may be provided instead of the cabin 71.

[0034] <2. Quantum Compass> [2-1. Overview] As described above, the combine harvester 100 of this embodiment is provided so as to be capable of automatic travel. The combine harvester 100 provided so as to be capable of automatic travel requires its own position information. To enable acquisition of its own position information, the combine harvester 100 of this embodiment is provided with a quantum compass 8 (see FIG. 5, etc., described later).

[0035] In this embodiment, the combine harvester 100 is configured to include the quantum compass 8 that can acquire its own position information in order to enable automatic driving, but this is merely an example. For example, the combine harvester 100 may be provided with the quantum compass for other purposes, such as recording its own work information or preventing theft.

[0036] The quantum compass 8 is an electrically powered electrical component capable of measuring latitude and longitude. The quantum compass 8 is attached to the combine harvester 100 as an electrical component. The quantum compass 8 is not subject to restrictions on placement related to communication, as is the case when satellite information is used to acquire position information. However, it is preferable that the positioning data acquired by the quantum compass 8 be obtained in a state that is easy to use for controlling autonomous driving, for example, and it is not the case that the quantum compass 8 can be placed anywhere. Furthermore, because the quantum compass 8 is an electrical component, it is preferable that it be mounted on the combine harvester 100 in a manner that is not exposed to, for example, rain, mud, exhaust fumes, etc. In this embodiment, the location and method of placement of the quantum compass 8 are devised in consideration of these points. Detailed examples of the location and method of placement of the quantum compass 8 are described below.

[0037] Before describing the detailed example, an overview of the arrangement of the quantum compass 8 will be described. In this embodiment, the number of quantum compasses 8 arranged in the combine 100 is one. However, the number of quantum compasses 8 arranged in the combine 100 may be multiple. For example, two quantum compasses 8 may be arranged symmetrically in the front and rear or left and right directions, and multiple quantum compasses 8 may be used for attitude control of the combine 100.

[0038] In this embodiment, the quantum compass 8 is provided in the control unit 7. The quantum compass 8 provided in the control unit 7 may be located inside or outside the cabin 71 of the control unit 7. When the quantum compass 8 is located inside the cabin 71, the quantum compass 8 can be placed in the combine 100 while ensuring waterproofing and dustproofing without the need for additional waterproofing or dustproofing components. In this embodiment, the control unit 7 is attached to the vehicle frame 11 with a vibration-proof structure. For this reason, by providing the quantum compass 8 in the control unit 7, the quantum compass 8 can be placed in the combine 100 while ensuring vibration-proofing. This makes it possible to prevent a decrease in the measurement accuracy of the quantum compass 8 due to vibrations caused by the combine 100 traveling.

[0039] Fig. 4 is a plan view showing the positional relationship between the control unit 7 and the pair of left and right crawlers 21. Note that the two-dot chain line CL shown in Fig. 4 corresponds to the bisector that divides the body 1 of the combine 100 into two equal parts in a plan view. The bisector CL also corresponds to the axis of symmetry of the pair of crawlers 21 that are arranged symmetrically in a plan view. As shown in Fig. 4, the control unit 7 (cabin 71) is located so that its center in the left-right direction is shifted to the right of the bisector CL.

[0040] In this embodiment, as described above, the quantum compass 8 is provided to control the automatic driving of the combine harvester 100. During automatic driving, a control point is set on the combine harvester 100, and steering control is performed so that the combine harvester 100 travels along a target driving path (automatic driving path) based on the control point. For this reason, the quantum compass 8, which detects the position of the combine harvester 100, is preferably placed in a position with a small deviation from the control point for automatic driving. This is because, by doing so, the process of determining the position of the combine harvester 100 using the quantum compass 8 can be prevented from becoming complicated.

[0041] The position of the control point for automatic driving is not particularly limited, but in this embodiment it is located at the center (turning center) of the left and right crawlers 21. The control point for automatic driving is located on the bisector CL described above. Taking this into consideration, the quantum compass 8 is provided at a position on the control unit 7 that is toward the center of the aircraft unit 1 in the left-right direction. In other words, the quantum compass 8 is provided on the left side of the cabin 71 or near the left side.

[0042] The thick dashed line BL in FIG. 4 is a virtual line that indicates the horizontal center position of the aircraft unit 1 in the control unit 7 for easy visualization. As an example, the area surrounded by the dashed line BL corresponds to the horizontal center position of the aircraft unit 1 in the control unit 7. Note that the horizontal center position of the aircraft unit 1 in the control unit 7 is also located at a position offset (protruding position) from the control unit 7 (cabin 71). This is because it is assumed that when the quantum compass 8 provided in the control unit 7 is provided outside the control unit 7, the quantum compass 8 may not overlap with the control unit 7 in a planar view. At least a portion of the quantum compass 8 is located within the area surrounded by the dashed line BL. By locating the quantum compass 8 in such a position, the horizontal positional deviation of the quantum compass 8 relative to the control point during autonomous driving can be reduced. As a result, the control process during autonomous driving can be prevented from becoming complicated.

[0043] 4, the area surrounded by the dashed line BL is located between the left and right crawlers 21 (between the left and right directions). That is, in a plan view, at least a portion of the quantum compass 8 is disposed between the left and right crawlers 21. This makes it possible to reduce the positional deviation of the quantum compass 8 in the left and right directions relative to the control point during automatic traveling.

[0044] [2-2. Detailed example of quantum compass placement] A detailed example of the arrangement of the quantum compass 8 will be described below.

[0045] Fig. 5 is a side view showing a detailed example of the arrangement of the quantum compass 8. Fig. 6 is a diagram schematically showing a cross section taken along the line VI-VI in Fig. 5. In particular, Fig. 5 is a diagram showing a part of the left side of the cabin 71 in which the quantum compass 8 is provided.

[0046] 5 and 6, the quantum compass 8 provided in the control unit 7 is supported by a support member 81 fixed to the control unit 7. By configuring the quantum compass 8 to be indirectly attached via the support member 81 rather than directly to a member constituting the control unit 7, it is possible to increase the degree of freedom in the placement of the quantum compass 8 relative to the control unit 7. Furthermore, by configuring the quantum compass 8 to be attached to the control unit 7 using the support member 81, it is possible to improve the support strength of the quantum compass 8. The shape of the support member 81 may be changed as appropriate depending on the shape of the quantum compass 8, the attachment position of the quantum compass 8, etc.

[0047] In detail, the quantum compass 8 is supported by a support member 81 fixed to the cabin 71 that constitutes the control unit 7. The support member 81 is attached to the outer surface side of the left side wall 712 of the cabin 71. That is, in this example, the quantum compass 8 is arranged outside the cabin 71. By configuring the quantum compass 8 to be arranged outside the cabin 71, it is possible to prevent the space inside the cabin 71 from becoming narrower.

[0048] The quantum compass 8 is attached to the support member 81 while being housed in a case 82. That is, in this example, the combine 100 is provided with a case 82 that houses the quantum compass 8. By configuring the quantum compass 8 to be housed in the case 82, the quantum compass 8, which is placed outside the cabin 71, can be protected from rainwater, dust, and the like.

[0049] 5, the quantum compass 8 is shown with a dashed line because it is housed in a case 82 and is not normally visible. This display method is also used in FIGS. 8 and 9, which will be described later.

[0050] The case 82 is preferably a waterproof case that has a function to prevent water from entering the case. Furthermore, the case 82 preferably has an openable and closable structure in consideration of ease of maintenance, etc. For example, the case 82 may have an upper case portion and a lower case portion, and the two portions may be easily separated by removing screws. The case 82 may also be composed of a part of the support member 81 and a lid that covers the quantum compass 8 supported by the support member 81.

[0051] The quantum compass 8 housed in the case 82 is preferably fixed so as not to move within the case 82 using fasteners such as bolts or adhesives. The case 82 is also preferably detachably fixed to the support member 81 using fasteners such as bolts. With this configuration, the quantum compass 8 can be removed from the cabin 71 together with the case 82.

[0052] 7, a vibration-isolating member 84 made of a rubber member or the like may be interposed between the quantum compass 8 housed in the case 82 and the case 82. As another example, a vibration-isolating member may be interposed between the case 82 housing the quantum compass 8 and the support member 81. In either configuration, the quantum compass 8 is supported via the vibration-isolating member 84. These configurations make it difficult for the quantum compass 8 to vibrate, and can prevent a decrease in the measurement accuracy of the quantum compass 8 due to the effects of vibration.

[0053] As shown in FIG. 5 , the quantum compass 8 is provided at a position lower than the upper end 713a of the roof 713 of the control unit 7. In this example, the roof 713 of the control unit 7 is a portion that forms the upper wall of the cabin 71. By providing the quantum compass 8 at a position lower than the upper end 713a of the roof 713, the vertical height of the combine 100 can be prevented from becoming higher than when the quantum compass 8 is not provided. In this example, the case 82 that houses the quantum compass 8 is also provided at a position lower than the upper end 713a of the roof 713 of the control unit 7, so that the vertical height of the combine 100 does not become higher. By keeping the vertical height positions of the quantum compass 8 and the case 82 that houses the quantum compass 8 low, the height position of the tip 622a of the discharge auger 622 when the discharge auger 622 is rotated can be kept as low as possible.

[0054] Fig. 8 is a plan view illustrating the arrangement of the quantum compass 8 shown in Fig. 5. As shown in Fig. 8, the quantum compass 8 is provided at a position on the left-right center side of the aircraft body 1 in the control unit 7, with a portion of it being arranged between the left and right crawlers 21 in a plan view. This allows the quantum compass 8 to be arranged at a position with little deviation from the control point of automatic driving, as described above.

[0055] 8, the quantum compass 8 is provided between the roof 713 and the discharge auger 622 arranged in the storage position. The case 82 is also provided between the roof 713 and the discharge auger 622 arranged in the storage position. In this example, the discharge auger 622 arranged in the storage position is arranged on the upper surface side of the combine harvester 100, at an angle relative to the front-to-rear direction in a plan view. The reason for arranging the discharge auger 622 at an angle in this manner is to make the length of the discharge auger 622 as long as possible while preventing the discharge auger 622 arranged in the storage position from protruding as much as possible from the machine body 1.

[0056] Specifically, the rear end of the discharge auger 622 arranged in the storage position is arranged behind the cabin 71, which is arranged toward the right side of the body 1. The discharge auger 622 arranged in the storage position is arranged diagonally to the left as it moves forward. For this reason, the tip 622a of the discharge auger 622 arranged in the storage position is located at a distance to the left of the cabin 71. As a result, a space SP is formed between the roof 713 and the discharge auger 622 arranged in the storage position. In this example, this space SP is efficiently used as a location for arranging the quantum compass 8, and the quantum compass 8 is arranged with a small deviation from the control point of automatic driving.

[0057] [2-3. Variations related to the placement of the quantum compass] FIG. 9 is a schematic diagram illustrating a modified example of the arrangement of the quantum compass 8. In detail, FIG. 9 is a plan view that schematically illustrates the configuration of the control unit 7A in which the quantum compass 8 is provided. In the detailed example of the arrangement of the quantum compass 8 described above, the quantum compass 8 is supported by a support member 81 fixed to the cabin 71. However, as described above, the control unit 7 may be configured without the cabin 71. When the control unit 7 is configured without the cabin 71, for example, the quantum compass 8 may be configured as shown in FIG. 9.

[0058] 9, the control unit 7A is provided with a driver's seat 72A, a handle operation unit 731A disposed in front of the driver's seat 72A, and a lever operation unit 732A disposed to the left of the driver's seat 72A. These components are similar to the components when the control unit 7 has a cabin 71.

[0059] This modification differs in that the support member 81A that supports the quantum compass 8 is fixed to the floor 7A1 of the control unit 7A, rather than to the cabin 71. The support member 81A may be fixed to a portion other than the floor 7A1, for example, to the outer surface of the lever operation unit 732A. Furthermore, if a canopy is provided on the control unit 7A, the support member 81A may be fixed to a member that constitutes the canopy. The shape of the support member 81A may be, for example, plate-like, column-like, or gate-like, and may be determined appropriately depending on the object to which the support member 81A is attached.

[0060] 9, it is preferable that at least a portion of the support member 81A that supports the quantum compass 8 be disposed behind the driver's seat 72A. This configuration can prevent the quantum compass 8 and the support member 81A from obstructing the view of the operator operating the combine harvester 100.

[0061] 9, the quantum compass 8 is arranged in a portion exposed to the outside of the combine 100. For this reason, in this modified example, as in the detailed example described above, the quantum compass 8 is arranged in the control unit 7A while housed in the case 82. Also, in this modified example, in order to minimize deviation from the control point of automatic driving, the quantum compass 8 is also provided in a position on the control unit 7A that is toward the center in the left-right direction of the aircraft unit 1 (a position to the left of the control unit 7A).

[0062] <3. 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.

[0063] <4. Notes> An exemplary work vehicle of the present invention may be configured (first configuration) to include a running section, a body section provided above the running section and having a control section, and a quantum compass provided in the control section, wherein the quantum compass is provided in a position on the control section that is central to the left and right of the body section.

[0064] In the work vehicle of the first configuration described above, the traveling unit may be equipped with a pair of left and right crawlers, and the quantum compass may be configured (second configuration) such that at least a portion of the quantum compass is positioned between the left and right crawlers in a planar view.

[0065] In the work vehicle of the first or second configuration, the quantum compass may be configured (third configuration) to be supported by a support member fixed to the control unit.

[0066] In the work vehicle of any one of the first to third configurations described above, the quantum compass may be configured (fourth configuration) to be provided at a position lower than the top end of a roof of the control unit.

[0067] The work vehicle of the fourth configuration may be equipped with a discharge auger that can be stored in a storage position when not in use, and the quantum compass may be configured to face between the roof and the discharge auger positioned in the storage position (fifth configuration).

[0068] The work vehicle of any one of the first to fifth configurations may be configured (sixth configuration) to include a case that houses the quantum compass.

[0069] In the work vehicle of any one of the first to sixth configurations, the quantum compass may be configured (seventh configuration) to be supported via a vibration isolation member. [Explanation of symbols]

[0070] 1. Airframe 2. Running part 7, 7A... Control unit 8. Quantum Compass 21. Crawler 81, 81A... Support member 82...Case 84... Vibration-isolating member 100 Combine 622 Horizontal cylinder, discharge auger 713···Roof 713a···Top edge of roof

Claims

1. A running part; a body section provided above the traveling section and having a control section; A quantum compass provided in the control unit; Equipped with The quantum compass is provided in a position on the left-right center side of the fuselage section in the control section, combine.

2. The traveling unit includes a pair of left and right crawlers, The combine harvester according to claim 1 , wherein at least a portion of the quantum compass is disposed between the left and right crawlers in a plan view.

3. The combine harvester of claim 1 , wherein the quantum compass is supported by a support member fixed to the steering section.

4. The combine harvester according to claim 3 , wherein the quantum compass is provided at a position lower than an upper end of a roof of the control section.

5. A discharge auger is provided which can be stored in a storage position when not in use. The combine harvester according to claim 4 , wherein the quantum compass is provided between the roof and the discharge auger disposed in the storage position.

6. The combine according to claim 1 , further comprising a case for housing the quantum compass.

7. The combine according to claim 1 , wherein the quantum compass is supported via a vibration-isolating member.

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