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 and a quantum compass disposed inward in the left-right direction relative to left and right ends of the traveling part.SELECTED DRAWING: Figure 5

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 travel, 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 the location of the combine harvester by providing a receiving device capable of receiving radio waves from a GPS satellite (positioning satellite) on the top surface of a cabin 12a, and that automatically travels 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 includes a running section and a quantum compass positioned laterally inward of the left and right ends of the running 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] FIG. 1 is a schematic perspective view showing a machine frame and a running unit; [Figure 5] FIG. 1 is a schematic plan view showing a machine frame and a running section; [Figure 6] FIG. 1 is a front view showing a first embodiment of the quantum compass arrangement; [Figure 7] FIG. 7 is a schematic cross-sectional view taken along the line VII-VII in FIG. 6; [Figure 8] FIG. 10 is a diagram showing a modification of the first embodiment relating to the arrangement of the quantum compass. [Figure 9] FIG. 10 is a plan view showing a second embodiment 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> 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 that is 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 of the body section 1. 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 machine. 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). In other words, the combine harvester 100 is equipped with an auger rest 623 on which the discharge auger 622 placed in the storage position is placed.

[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. 6, 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 positioned laterally inward of the left and right ends of the travel unit 2. The left-right inward side of the left end of the travel unit 2 is to the right of the left end. The left-right inward side of the right end of the travel unit 2 is to the left of the right end. With this configuration, the quantum compass 8 can be positioned toward the center of the combine 100 in the left-right direction.

[0039] 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 desired driving path (automatic driving path) based on the control point. In consideration of this, the quantum compass 8, which detects the position of the combine harvester 100, is preferably disposed in a position with minimal deviation from the control point for automatic driving. The control point for automatic driving is set, for example, at the center (turning center) of the left and right crawlers 21. In other words, the control point for automatic driving is typically set at the center of the traveling unit 2 in the lateral direction. For this reason, if the quantum compass 8 is configured to be disposed toward the center of the combine harvester 100 in the lateral direction, as in this embodiment, the lateral positional deviation of the quantum compass 8 from the control point during automatic driving can be reduced. As a result, the control process during automatic driving can be prevented from becoming complicated.

[0040] More preferably, 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 left-right positional deviation of the quantum compass 8 from the control point during automatic traveling.

[0041] Furthermore, it is preferable that the quantum compass 8 be positioned lower than the discharge auger 622 (see FIGS. 1 and 2) that is positioned in the storage position. By positioning the quantum compass 8 lower than the discharge auger 622 that is positioned in the storage position, it is possible to prevent the discharge auger 622 from coming into contact with the quantum compass 8. Furthermore, since the quantum compass 8 can be positioned at a low position on the combine 100, it is possible to prevent the position measured by the quantum compass 8 from varying due to the inclination of the combine 100. Furthermore, it is possible to position the quantum compass 8 closer to the control point of the automatic driving, which makes it possible to prevent the correction process from becoming more complicated.

[0042] [2-2. Detailed example of quantum compass placement] A detailed example of the arrangement of the quantum compass 8 will be described below.

[0043] (2-2-1. First Example) In the first embodiment, the quantum compass 8 is supported by the vehicle frame 11. When the quantum compass 8 is configured to be supported by the vehicle frame 11, the quantum compass 8 can be disposed at a low position on the combine 100. As a result, it is possible to suppress variation in the position measured by the quantum compass 8 due to the inclination of the combine 100. Furthermore, when the quantum compass 8 is configured to be disposed on the vehicle frame 11, it is possible to position the quantum compass 8 with a small deviation from the control point of automatic driving. Note that the quantum compass 8 supported by the vehicle frame 11 is disposed at a lower position than the discharge auger 622, which is disposed in the storage position.

[0044] Fig. 4 is a schematic perspective view showing the machine body frame 11 and the traveling section 2. Fig. 5 is a schematic plan view showing the machine body frame 11 and the traveling section 2. Note that the two-dot chain line CL shown in Fig. 5 corresponds to a bisector that bisects the traveling section 2 of the combine 100 into left and right equal parts in a plan view. The control point for automatic traveling is located on the bisector CL.

[0045] 4 and 5, the vehicle frame 11 supported by the traveling section 2 is made up of a plurality of frame members 111. The plurality of frame members 111 may be, for example, plate-shaped members, column-shaped members, or cylindrical members. More specifically, the plurality of frame members 111 include front-rear frames 111a extending in the front-rear direction and left-right frames 111b extending in the left-right direction. The vehicle frame 11 is made up of a combination of the plurality of front-rear frames 111a and the plurality of left-right frames 111b.

[0046] 5, the rectangular frame RF indicated by the dashed line indicates a preferred position for the quantum compass 8 supported by the vehicle frame 11. The rectangular frame RF is located inside the left and right ends of the traveling unit 2 in the left-right direction. The rectangular frame RF is also located between the left and right crawlers 21. The rectangular frame RF is also located toward the center of the traveling unit 2 in the front-rear direction.

[0047] In this embodiment, at least a portion of the quantum compass 8 is arranged within the rectangular frame RF. By arranging the quantum compass 8 in this manner, it is possible to reduce the positional deviation of the quantum compass 8 relative to the control point during automatic driving. As a result, it is possible to prevent the control processing during automatic driving from becoming complicated. Furthermore, when the quantum compass 8 is arranged in this manner, at least a portion of the quantum compass 8 can be configured to be arranged between the threshing unit 4 and the grain tank 61 (see Figure 2, etc.) in a planar view. In this configuration, by opening the grain tank 61, it is possible to make it easier to access the quantum compass 8 from the outside. As a result, it is possible to improve the maintainability of the quantum compass 8.

[0048] Fig. 6 is a front view showing a first embodiment relating to the arrangement of quantum compass 8. In Fig. 6, quantum compass 8 is shown by a dashed line, which means that quantum compass 8 is not visible from the outside. Fig. 7 is a diagram showing a cross section taken along line VII-VII in Fig. 6.

[0049] 6 and 7, in this embodiment, as a preferred embodiment, the quantum compass 8 is supported by frame members 111 (left and right frames 111b) that extend in the left and right direction and that are included in the aircraft frame 11. By configuring the quantum compass 8 to be arranged on the left and right frames 111b in this way, it becomes easier to adjust the left and right position of the quantum compass 8. This makes it easier to arrange the quantum compass 8 on the center side of the left and right crawlers 21.

[0050] 7, in this embodiment, the quantum compass 8 is directly attached to the left and right frames 111b. The quantum compass 8 may be attached to the left and right frames 111b using fasteners such as bolts or by adhesive. However, the quantum compass 8 may also be attached to the left and right frames 111b via support members attached to the left and right frames 111b.

[0051] As shown in FIG. 7, in this embodiment, the combine harvester 100 includes a cover 81 that covers the quantum compass 8. The cover 81 is detachably attached to the left and right frames 111b using fasteners such as bolts. The provision of the cover 81 makes it possible to protect the quantum compass 8 from rain, dust, and the like. Furthermore, because the cover 81 is detachable, maintenance of the quantum compass 8 can be easily performed. Note that the cover 81 is not an essential component, but it is preferable to provide it.

[0052] The cover 81 may be made of, for example, sheet metal or resin, but is preferably waterproof by having a sealing member, etc. The cover 81 may also constitute a part of a case that houses the quantum compass 8. In this case, the quantum compass 8 may be supported by the left and right frames 111b while housed in the case.

[0053] FIG. 8 is a diagram showing a modified example of the first embodiment relating to the arrangement of the quantum compass 8. FIG. 8 is a cross-sectional view similar to that of FIG. 7 described above. In this modified example, the quantum compass 8 is also covered with a cover 81, but the cover 81 is not shown in FIG. 8. As shown in FIG. 8, the quantum compass 8 is preferably supported on the aircraft frame 11 (more specifically, the left and right frames 111b) via vibration-isolating members 82 made of rubber or the like. This configuration makes it possible to suppress vibration of the quantum compass 8. As a result, it is possible to suppress a decrease in the measurement accuracy of the quantum compass 8 due to the influence of vibration.

[0054] 8, the quantum compass 8 is attached to a support member 83, and an anti-vibration member 82 is arranged between the support member 83 and the left and right frames 111b. However, this is merely an example. A configuration may be adopted in which the support member 83 is not provided, and an anti-vibration member is arranged between the quantum compass 8 and the left and right frames 111b. Furthermore, when the quantum compass 8 is housed in a case and attached to the left and right frames 111b, a configuration may be adopted in which an anti-vibration member is arranged between the case and the left and right frames 111b, or a configuration in which an anti-vibration member is arranged between the case and the quantum compass 8.

[0055] (2-2-2. Second Example) FIG. 9 is a plan view schematically showing a second embodiment relating to the arrangement of the quantum compass 8. As shown in FIG. 9, the combine harvester 100 of the second embodiment includes a support pillar 624 that supports an auger rest 623 on which a discharge auger 622 placed in the storage position is placed. The support pillar 624 extends in the vertical direction. The support pillar 624 is supported by, for example, the body frame 11, a member constituting the threshing section 4, or a member constituting the sorting section 5. The support pillar 624 is disposed to the left of the control section 7 (cabin 71). The support pillar 624 may also be configured to be disposed behind the control section 7. The auger rest 623 is provided at the upper end of the support pillar 624.

[0056] In this embodiment, the quantum compass 8 is supported by a support 624. The quantum compass 8 supported by the support 624 can be positioned lower than the discharge auger 622, which is positioned in the storage position. This configuration prevents the discharge auger 622 from coming into contact with the quantum compass 8. Furthermore, because the quantum compass 8 can be positioned at a low position on the combine 100, it is possible to prevent the position measured by the quantum compass 8 from varying due to the inclination of the combine 100. Furthermore, the quantum compass 8 can be positioned closer to the control point of the automatic driving, which makes it possible to prevent the correction process from becoming more complicated.

[0057] The quantum compass 8 may be attached directly to the support 624, but in this embodiment, the quantum compass 8 is attached to the support 624 via a support member 83A. The support member 83A is fixed to the support 624. The quantum compass 8 is placed on the support member 83A while being housed in a case 84. In FIG. 9, the quantum compass 8 is shown by a dashed line because it is placed inside the case 84 and would not normally be visible.

[0058] The case 84 may be attached to the support member 83A via a vibration-proof member. The support column 624 itself may have a vibration-proof structure. The quantum compass 8 may not be housed in the case 84, but may be attached to the support member 83A and covered with a cover.

[0059] In this embodiment, as in the first embodiment, at least a portion of the quantum compass 8 is disposed between the left and right crawlers 21 in a plan view. This makes it possible to reduce the left-right positional deviation of the quantum compass 8 from the control point during automatic driving. As a result, it is possible to prevent the control process during automatic driving from becoming complicated.

[0060] <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.

[0061] <4. Notes> An exemplary work vehicle of the present invention may have a configuration (first configuration) including a traveling section and a quantum compass that is arranged laterally inward of the left and right ends of the traveling section.

[0062] 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.

[0063] The work vehicle of the first or second 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 (third configuration) to be positioned at a lower position than the discharge auger when positioned in the storage position.

[0064] A work vehicle of any of the first to third configurations above may be provided with a body frame arranged above the running section, and the quantum compass may be configured (fourth configuration) to be supported by the body frame.

[0065] In the work vehicle of the fourth configuration, the quantum compass may be configured (fifth configuration) to be supported by a frame member that extends in the left-right direction and that is included in the vehicle frame.

[0066] In a work vehicle of the fourth or fifth configuration, a threshing unit and a grain tank are arranged side by side on the body frame, and at least a part of the quantum compass may be arranged between the threshing unit and the grain tank in a planar view (sixth configuration).

[0067] The work vehicle of the third configuration above may be configured to include an auger rest on which the discharge auger placed in the storage position is placed, and a support pillar supporting the auger rest, and the quantum compass may be supported by the support pillar (seventh configuration).

[0068] The work vehicle of any one of the first to seventh configurations above may be configured (eighth configuration) to include a cover that covers the quantum compass.

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

[0070] 2. Running part 4. Threshing section 8. Quantum Compass 11. Aircraft frame 21. Crawler 61. Glentank 81···Cover 82... Vibration-isolating member 100 Combine 111 Frame member 111a···Front and rear frames 111b: Left and right frames (frame members extending in the left and right direction) 622 Horizontal cylinder, discharge auger 623···Ogarest 624...post

Claims

1. A running part; a quantum compass disposed inside the left and right ends of the traveling portion in the left-right direction; A combine harvester equipped with:

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. A discharge auger is provided which can be stored in a storage position when not in use. The combine harvester according to claim 1 , wherein the quantum compass is positioned lower than the discharge auger when the discharge auger is in the stowed position.

4. a machine body frame disposed above the traveling section, The combine of claim 1 , wherein the quantum compass is supported by the fuselage frame.

5. The combine harvester according to claim 4 , wherein the quantum compass is supported by a frame member extending in the left-right direction of the vehicle frame.

6. The threshing section and the grain tank are arranged side by side on the body frame, The combine according to claim 4, wherein at least a portion of the quantum compass is disposed between the threshing section and the grain tank in a plan view.

7. an auger rest on which the discharge auger disposed at the storage position is placed; A support pillar supporting the auger rest; Equipped with The combine of claim 3 , wherein the quantum compass is supported by the support column.

8. The combine according to claim 1 , further comprising a cover for covering the quantum compass.

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

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