Work vehicles

Abstract

To arrange a tank optimally in a travel vehicle body which travels autonomously or based on a command from the outside.SOLUTION: A work vehicle 1 of the invention includes: a travel vehicle body 2 which can travel by a command from the outside and to which a work device 49 may be attached; a drive device 5 which is provided at the travel vehicle body 2 and generates a drive force of the travel vehicle body 2; a tank 7 in which a gas used as an energy source of the drive force is stored; and a control device 70 which controls travelling of the travel vehicle body 2 autonomously or based on a command from the outside. At least a part of the tank is disposed in at least one of a front part and a rear part of the travel vehicle body 2.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a work vehicle that travels using a driving force generated by gas stored in a tank based on an autonomous or externally issued command.

Background Art

[0002] As described in Patent Document 1, a tractor has a bonnet at the front of the vehicle body. Inside the bonnet, an engine, a radiator, a fuel tank, a battery, etc. are housed.

[0003] On the other hand, aiming to achieve decarbonization, the development of fuel cell vehicles (FCVs) using hydrogen as fuel is progressing. Such a work vehicle is provided with a tank (hydrogen tank) for storing (storing) hydrogen gas.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In work vehicles that require a tank, there has been an increasing desire to establish a technology for optimally arranging the tank.

[0006] The present invention has been made in view of the above problems, and an object thereof is to provide a work vehicle in which a tank is optimally arranged with respect to a traveling vehicle body that travels based on an autonomous or externally issued command.

Means for Solving the Problems

[0007] The technical means taken by the present invention to solve the above problems are characterized by the following points.

[0008] ​unmanned Driving Perform and, via a 3-point linkage mechanism A vehicle body to which a work device can be attached, a drive device provided on the vehicle body and which generates the driving force of the vehicle body, and a tank for storing gas which is the energy source of the driving force, A fuel cell that generates electricity using the gas in the tank, a battery that stores the electricity generated by the fuel cell, and a drive motor that is driven by the electricity generated by the fuel cell. The movement of the vehicle is controlled autonomously or based on external commands. During autonomous driving, the three-point linkage mechanism is controlled to automatically raise and lower the work device, and in response to commands from the remote control device, the steering device is controlled according to the steering direction, the drive motor is controlled according to the vehicle speed, and the control valve is controlled according to the raising and lowering of the coupling device. Control device and A PTO shaft is provided at the rear of the vehicle body and operates the work device using electricity generated by the fuel cell, Equipped with, The vehicle body has a long frame member that is extended in the front-to-rear direction and is located at the bottom, and a cover that covers the upper part of the frame member, and the drive unit is built into the lower center of the frame member in the front-to-rear direction. A drive motor is provided, and the area in front of the drive motor is the front of the vehicle body, and the area behind the drive motor is the rear of the vehicle body, and in the space between the frame material and the cover of the vehicle body, Either the front or rear of the aforementioned vehicle body Before At least some of the tanks have been deployed. On the other hand, the fuel cell is deployed. .

[0009] The vehicle is equipped with a running gear that supports and moves the vehicle body, the running gear having front wheels that support the front of the vehicle body and rear wheels that support the rear of the vehicle body, the front end of the cover is located in front of the front wheels in the longitudinal direction, the rear end of the cover is located behind the rear wheels in the longitudinal direction, a hollow housing is formed between the frame material and the cover, either the tank or the fuel cell is positioned within the housing so that its position in the longitudinal direction coincides with the front wheels, and the other of the tank or the fuel cell is positioned within the housing so that its position in the longitudinal direction coincides with the rear wheels. That's good too.

[0010] At least one of the tanks is located at the front of the vehicle body, and the fuel cell may be located at the rear of the vehicle body.

[0011] (In cases where at least one of the tanks is located at the front of the vehicle body and the fuel cell is located at the rear of the vehicle body,) the tanks may be arranged in a row in the front-to-rear direction.

[0012] The tank is formed in a cylindrical shape extending in the width direction of the vehicle body, and the length of the tank in the width direction of the vehicle body may correspond to the length of the vehicle body in the width direction of the vehicle.

[0013] The tank may be formed in a cylindrical shape extending in the front-to-back direction.

[0014] The length of the tank in the longitudinal direction may correspond to the length from the front to the rear of the vehicle body.

[0015] Multiple of the aforementioned tanks may be arranged in a line in the front-to-back direction.

[0016] The tank may be formed in a cylindrical shape that extends in the vertical direction.

[0017] The tank is provided with at least one or more at the rear part of the traveling vehicle body, and the fuel cell may be provided at the front part of the traveling vehicle body.

[0018] (When the tank is provided with at least one or more at the rear part of the traveling vehicle body and the fuel cell is provided at the front part of the traveling vehicle body), a plurality of the tanks may be arranged side by side in the front-rear direction.

[0019] A plurality of the tanks may be arranged side by side in the vehicle body width direction.

[0020] The tank may be formed in a cylindrical shape extending in the vertical direction.

Effect of the Invention

[0021] In the traveling vehicle body that travels based on self-driving or an external command according to the present invention, the tank can be optimally arranged.

Brief Description of the Drawings

[0022] [Figure 1] It is a side view of the work vehicle of the present embodiment adopting the first arrangement example. [Figure 2] It is a plan view of the work vehicle of the present embodiment adopting the first arrangement example. [Figure 3] [[ID=�4]]It is a block diagram of the drive device provided in the work vehicle. [Figure 4] It is a side view of the work vehicle adopting the second arrangement example. [Figure 5] It is a plan view of the work vehicle adopting the second arrangement example. [Figure 6] It is a side view of the work vehicle adopting the third arrangement example. [Figure 7] It is a plan view of the work vehicle adopting the third arrangement example. [Figure 8] It is a side view of the work vehicle adopting the fourth arrangement example. [Figure 9] It is a plan view of the work vehicle adopting the fourth arrangement example. [Figure 10]This is a side view of a work vehicle employing the fifth configuration example. [Figure 11] This is a plan view of a work vehicle employing the fifth arrangement example. [Figure 12] This is a side view of a work vehicle employing the sixth deployment example. [Figure 13] This is a plan view of a work vehicle employing the sixth arrangement example. [Figure 14] This is a side view of a work vehicle employing the seventh deployment example. [Figure 15] This is a plan view of a work vehicle employing the seventh arrangement example. [Figure 16] This is a side view of a work vehicle employing the eighth deployment example. [Figure 17] This is a plan view of a work vehicle employing the eighth arrangement example. [Figure 18] This is a side view of a work vehicle employing the ninth deployment example. [Figure 19] This is a plan view of a work vehicle employing the ninth arrangement example. [Figure 20] This is a side view of a work vehicle employing the 10th deployment example. [Figure 21] This is a plan view of a work vehicle employing the 10th arrangement example. [Figure 22] This is a perspective view showing the first support member. [Figure 23] This is a perspective view showing the second support member. [Figure 24] This is a perspective view showing the third support member. [Figure 25] This is a perspective view showing the fourth support member. [Figure 26] The control block diagram is shown. [Modes for carrying out the invention]

[0023] The following describes preferred embodiments of the work vehicle 1 according to the present invention.

[0024] Figure 1 is a side view of the work vehicle 1 of this embodiment. Figure 2 is a top view of the work vehicle 1 of this embodiment.

[0025] Work vehicle 1 is a vehicle that operates autonomously or based on external commands and is unmanned, such as construction machinery, agricultural vehicles, or utility vehicles.

[0026] As shown in Figures 1 to 3, the work vehicle 1 of this embodiment comprises a vehicle body 2, a drive unit 5, a tank 7, and a control device 70. The vehicle body 2 can be driven by an external command. A work device 49 can be connected (attached) to the vehicle body 2. The vehicle body 2 is equipped with a drive unit 5. The drive unit 5 generates driving force for the vehicle body 2 using a drive motor 6 or the like. The tank 7 contains gas, which is the energy source for the driving force. The control device 70 controls the movement of the vehicle body 2. The control device 70 controls the vehicle body 4 and the drive unit 5 according to a preset program or an external command, enabling the vehicle body 2 to move.

[0027] The tank 7 provided in the work vehicle 1 of the present invention contains gas, which is the energy source for the driving force. Examples of such gases include hydrogen gas, which is used as fuel in PEFCs (polymer electrolyte fuel cells). Note that PEFCs may also use fuels other than hydrogen, such as LNG, LPG, and biomass gas. In other words, the gas contained in tank 7 is not limited to hydrogen gas, but may also include methane or gases primarily composed of methane. You may use any of these.

[0028] Furthermore, the energy source for the driving force is not limited to electricity (electrical energy) extracted from a fuel cell. A vehicle that uses gas stored in tank 7 as fuel to drive an internal combustion engine (such as a diesel engine) is also included in the work vehicle 1 of the present invention. Examples of such gases include hydrogen, methane, or natural gas, petroleum gas, and biomass gas, which are mainly composed of methane.

[0029] In this embodiment, an unmanned tractor is given as an example of the work vehicle 1. However, the work vehicle 1 according to the present invention is not limited to a tractor. The work vehicle 1 according to the present invention may be, for example, agricultural machinery other than a tractor (such as a combine harvester or rice transplanter), construction machinery, a utility vehicle, etc.

[0030] In the following explanation, the direction indicated by arrow A1 in Figure 1 (the forward direction of work vehicle 1) is considered the front. The direction indicated by arrow A2 (the reverse direction of work vehicle 1) is considered the rear. The direction indicated by arrow A3 is considered the forward / backward direction. The directions indicated by arrows A1 to A3 are illustrated as appropriate.

[0031] Furthermore, the horizontal direction (left-right direction), which is perpendicular to arrow A3 pointing in the front-rear direction, is defined as the vehicle width direction K1 or width direction (see Figure 2). The vehicle width direction K1 is the width direction of the work vehicle 1. The direction from the center of the work vehicle 1 in the width direction to the right, or from the center to the left, is defined as the outward direction of the vehicle width direction K1 (outward width direction). The outward width direction is the direction away from the center of the work vehicle 1 in the width direction in the vehicle width direction K1. The direction opposite to the outward width direction is defined as the inward direction of the vehicle width direction K1 (inward width direction). The inward width direction is the direction approaching the center of the work vehicle 1 in the width direction in the vehicle width direction K1.

[0032] In the following sections, we will first describe the components of the work vehicle 1: the running body 2, the drive unit 5, the tank 7, and the control device 70.

[0033] The vehicle body 2 is a vehicle that moves autonomously or by external command. As shown in Figures 1 and 2, the vehicle body 2 has a long frame material 2a that is long in the front-rear direction and is provided at the bottom of the work vehicle 1, and a cover 2b that covers the top of the frame material 2a. The frame material 2a and cover 2b are arranged along the entire length in the front-rear direction from the front end to the rear end of the work vehicle 1. The frame material 2a is formed by combining metal frame materials and the like to provide high rigidity. The space between the frame material 2a and the cover 2b is hollow and is formed as a housing section 62 that houses the tank 7, drive unit 5, control device 70, etc. The vehicle body 2 has running gear 4 at both ends in the width direction of the vehicle body, and the drive unit 5 and control device 70 are located on the top of the vehicle body 2.

[0034] As shown in Figure 1, the vehicle body 2 of this embodiment has a drive motor 6 and a transmission case 29 located at the lower center in the front-rear direction of the frame material 2a. The driving force generated by the drive motor 6 is transmitted to the transmission case 29.

[0035] If the area in front of the drive motor 6 of the vehicle body 2 is defined as the "front section" and the area behind the drive motor 6 is defined as the "rear section," then in this embodiment, the arrangement of the tank 7 and other components differs between the front and rear sections of the vehicle body 2.

[0036] Specifically, the rear of the vehicle body 2 in this embodiment houses four hydrogen-filled tanks 7. A fuel cell stack (fuel cell) 8 is mounted on top of the four tanks 7. The front of the vehicle body 2 in this embodiment houses three tanks 7. A first radiator 22 and a second radiator 24 are mounted in front of and behind the three tanks 7. In this embodiment, the radiator mounted in the front is the second radiator 24, and the radiator mounted in the rear is the first radiator 22.

[0037] The running gear 4 supports and propels the vehicle body 2 against the road surface (ground). In other words, the running gear 4 provides propulsion to the vehicle body 2. In this embodiment, the running gear 4 consists of front wheels 18L, 18R and rear wheels 19L, 19R. The rear wheels 19L, 19R are made of larger diameter rubber tires than the front wheels 18L, 18R and support the large load applied to the rear of the vehicle body 2. In the running gear 4 of this embodiment, power is transmitted from the drive unit 5 to either the front wheels 18L, 18R or the rear wheels 19L, 19R, or to both the front wheels 18L, 18R and the rear wheels 19L, 19R. Note that the running gear 4 of the present invention is shown in Figures 20 and 2 As shown in 1, you may use tracks or crawlers instead of rubber tires.

[0038] Figure 3 is a block diagram of the drive unit 5 provided in the work vehicle 1 of this embodiment. Note that the drive unit 5 provided in the work vehicle 1 of the present invention is not limited to the examples shown in Figures 1 and 2. The number of drive motors 6 and other components built into the drive unit 5 can be changed as appropriate.

[0039] As shown in Figure 3, the drive unit 5 generates the driving force to move (drive) the travel unit 4 and to drive the work device 49. In this embodiment, the drive unit 5 uses electricity generated by a fuel cell (fuel cell stack 8). However, in the present invention, the power source for the driving force of the drive unit 5 may be an internal combustion engine or the like.

[0040] Specifically, the drive unit 5 of this embodiment includes a drive motor 6, a fuel cell stack 8, and a battery 20. The drive motor 6 generates power to drive the traction unit 4. The fuel cell stack 8 supplies power to the drive motor 6. The battery 20 stores the power supplied from the fuel cell stack 8.

[0041] The fuel cell stack 8 used in the drive unit 5 of this embodiment generates electricity by reacting hydrogen, which is the fuel, with oxygen at the electrodes. The hydrogen supplied as fuel to the fuel cell is absorbed or stored in the tank 7. The drive unit 5 is equipped with a fuel cell stack 8 in which electrodes are stacked in multiple layers. Hydrogen gas from the tank 7 is supplied to the fuel cell stack 8, and the electrode reaction takes place within the fuel cell stack 8. In other words, the drive unit 5 of this embodiment is structured to drive the drive motor 6 using electricity (power) extracted by the electrode reaction in the fuel cell stack 8. The electrode reaction in the fuel cell stack 8 does not emit carbon dioxide, which is inevitably emitted in combustion reactions of internal combustion engines. Therefore, the work vehicle 1 of this embodiment, which is driven using electricity generated by the fuel cell (fuel cell stack 8), is promising for achieving decarbonization.

[0042] As shown in Figures 1 and 2, the fuel cell stack 8 has multiple single cells, each equipped with two types of electrodes, a positive electrode and a negative electrode, stacked inside a box-shaped battery casing.

[0043] Specifically, the positive and negative electrodes are formed in sheet or film form using positive and negative electrode materials, respectively. Each single cell contains one positive and one negative electrode. Adjacent single cells are separated by separators. Hydrogen gas from tank 7 is supplied to the positive electrode, and compressed oxygen gas (oxidizing gas) from a compressor or the like is supplied to the negative electrode. A battery reaction (power generation) takes place in each single cell. The fuel cell stack 8 generates the voltage and current necessary to drive the drive unit 5 by aggregating the power generated in each single cell.

[0044] As shown in Figure 3, the fuel cell stack 8 is supplied with a coolant for adjusting the electrode temperature. The coolant adjusts the electrode temperature inside the fuel cell stack 8 to a temperature that maximizes power generation efficiency (approximately 70°C in the case of a hydrogen fuel cell). The coolant circulates between the inside of the fuel cell stack 8 and a radiator (first radiator 22) located near the center of the vehicle body 2 in the longitudinal direction. The temperature inside the fuel cell stack 8 is adjusted by controlling the flow rate of the coolant using pumps and valves (not shown).

[0045] As shown in Figures 1 to 3, in this embodiment, the fuel cell stack 8 is housed in the rear upper part of the housing 62 of the vehicle body 2. Hydrogen gas is supplied to the fuel cell stack 8 from the tank 7 through the gas piping 23 (see Figure 3).

[0046] In this embodiment, the work vehicle 1 has a second radiator 24 located at the front of the vehicle body 2. The second radiator 24 is provided separately from the first radiator 22 located at the rear. In this embodiment, the first radiator 22 is used to cool the fuel cell stack 8, while the second radiator 24 is used to cool components other than the fuel cell stack 8.

[0047] As shown in Figure 3, a boost circuit 25 is provided downstream of the drive motor 6 (downstream in the power transmission path). The boost circuit 25 boosts the power generated by the fuel cell stack 8. By boosting the power generated by the fuel cell stack 8, the boost circuit 25 ensures that there is enough voltage to start the drive motor 6.

[0048] The boost circuit 25 is equipped with a circuit that boosts the voltage of the power generated in the fuel cell stack 8. The power boosted by the boost circuit 25 is sent to the drive motor 6 to drive the drive motor 6. Note that some electrical components used in the work vehicle 1 operate at even lower voltages than the drive motor 6. For such low-voltage electrical components (low-voltage electrical components), power is supplied that has been stepped down by a step-down circuit including the first DC-DC converter 26 and the second DC-DC converter 27. In this embodiment, the low-voltage electrical components include the radiators (first radiator 22 and / or second radiator 24) and the battery 20.

[0049] Battery 20 stores electricity generated by the fuel cell stack 8. Power, stepped down by the first DC-DC converter 26, is supplied to Battery 20 and the air conditioning unit 28. Power, stepped down by the second DC-DC converter 27, is supplied to the radiators 22 and 24.

[0050] In this embodiment of the work vehicle 1, the battery 20 is located between the right front wheel 18R and the right rear wheel 19R. In other words, the battery 20 is located at the right end of the central part in the longitudinal direction of the vehicle body 2. The battery 20 is housed together with the first DC-DC converter 26 and the second DC-DC converter 27 within the cover 2b (housing section 62).

[0051] The drive motor 6 is, for example, a permanent magnet embedded DC or AC synchronous motor or a wound-field synchronous motor. The drive motor 6 is positioned slightly behind the center of the vehicle body 2 in the longitudinal direction, and one unit is located in the center in the width direction of the vehicle body. The drive motor 6 has an output shaft 6a that extends toward the rear, and rotates the output shaft 6a. The rear end of the output shaft 6a is connected to the transmission case 29, and the driving force is transmitted into the transmission case 29.

[0052] The transmission case 29 contains a transmission, clutch, differential gear, etc., that changes the speed of the power transmitted to the output shaft 6a. Power is input to the transmission case 29 from the output shaft 6a. Within the transmission case 29, the input power is reduced or increased in speed. The transmission case 29 outputs the reduced or increased power to the front wheels 18 and / or rear wheels 19 of the running gear 4. For example, if the work vehicle 1 is rear-wheel drive, the power output to the running gear 4 is transmitted only to the rear wheels 19. If the work vehicle 1 is four-wheel drive, the power output to the running gear 4 is transmitted to both the front wheels 8 and the rear wheels 19.

[0053] In this embodiment, only one drive motor 6 is mounted on the upper part of the vehicle body 2. The power generated by the single drive motor 6 is distributed to multiple front wheels 18L, 18R and / or rear wheels 19L, 19R.

[0054] The power reduced or accelerated in the transmission case 29 is transmitted not only to the running gear 4 but also to the work device 49. The work device 49 is connected to the rear of the work vehicle 1 in this embodiment (the rear end of the transmission case 29). A coupling device (three-point linkage mechanism 71) is used to connect the work device 49. By providing the three-point linkage mechanism 71, various implements (work devices 49) can be attached to the rear of the work vehicle 1. The three-point linkage mechanism 71 makes it possible to change the posture and drive the work device 49, allowing the work vehicle 1 to perform a variety of tasks. The work device 49 can be an implement such as a tiller, rotary tiller, mulcher, hammer knife mower, ridge maker, transporter, seed planter, harrow, or ridging machine.

[0055] A PTO shaft (power take-off shaft) may be provided at the rear of the work vehicle 1 (the rear end of the transmission case 29). Power transmitted (input) to the transmission case 29 is output to the PTO shaft. If a PTO shaft is provided, it is also possible to operate the work device 49 (implement) using electricity generated by the fuel cell.

[0056] It should be noted that the PTO shaft and the three-point linkage mechanism 71 mentioned above are not always installed. In agricultural machinery such as combine harvesters and rice transplanters, or in construction machinery such as work vehicles 1, they may not be installed. In addition, a hydraulic pump driven by the power output of the drive motor 6, or an electric motor separate from the drive motor 6, may be provided separately, and the work device 49 (implement) may be operated hydraulically or electrically.

[0057] As shown in Figure 26, the coupling device (3-point linkage mechanism 71) has a lift arm 400a, a lower link 400b, a top link 400c, a lift rod 400d, and a lift cylinder 400e. The front end of the lift arm 400a is supported on the rear upper part of the transmission case so as to be able to swing upward or downward. The lift arm 400a is supported by the lift cylinder 400 It swings (rises and falls) by the drive of e. The lift cylinder 400e is composed of a hydraulic cylinder. The lift cylinder 400e is connected to a hydraulic pump via a control valve 401. The control valve 401 is a solenoid valve or the like, which extends and retracts the lift cylinder 400e.

[0058] The front end of the lower link 400b is supported on the rear lower part of the transmission case 29 so as to be able to swing upward or downward. The front end of the top link 400c is supported on the rear of the transmission case 29 so as to be able to swing upward or downward, above the lower link 400b. The lift rod 400d connects the lift arm 400a and the lower link 400b. The working device 49 is connected to the rear of the lower link 400b and the rear of the top link 400c. When the lift cylinder 400e is driven (extended or retracted), the lift arm 400a moves up and down, and the lower link 400b, which is connected to the lift arm 400a via the lift rod 400d, also moves up and down. As a result, the working device 49 swings (moves up and down) up or down, with the front of the lower link 400b as the pivot point.

[0059] As shown in Figure 26, the work vehicle 1 is equipped with a control device 70, a steering device 300, a positioning device 301, and a sensing device 302. The control device 70 is a device composed of electrical and electronic circuits, a CPU, and programs stored in it, and controls various devices of the work vehicle 1. For example, the control device 70 controls the steering of the steering device 300, the rotational speed of the drive motor 6, and the vehicle speed of the running device 4.

[0060] The steering device 300 is a device that steers the front wheels 18L and 18R by steering control of the control device 70. The steering device 300 includes a hydraulic pump 333, a control valve 334 to which hydraulic fluid discharged from the hydraulic pump 333 is supplied, and a steering cylinder 335 operated by the control valve 334. The control valve 334 is a solenoid valve that operates based on a control signal. The control valve 334 is a three-position changeable valve that can be switched by, for example, the movement of a spool. The steering cylinder 335 is connected to an arm (knuckle arm) that changes the direction of the front wheels 18L and 18R, and steers the front wheels 18L and 18R by operating in accordance with the switching of the three-position changeable valve of the control valve 334.

[0061] The positioning device 301 can detect its own position (positioning information including latitude and longitude) using satellite positioning systems (positioning satellites) such as D-GPS, GPS, GLONASS, Beidou, Galileo, and Michibiki. That is, the positioning device 301 receives satellite signals (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite and detects the position of the work vehicle 1 (e.g., latitude and longitude), i.e., the vehicle body position, based on the satellite signals. The positioning device 301 has a receiving device 341 and an inertial measurement unit (IMU) 342. The receiving device 341 has an antenna and the like and is a device that receives satellite signals transmitted from the positioning satellite, and is mounted on the vehicle body 2 separately from the inertial measurement unit 342. The inertial measurement unit 342 has an acceleration sensor to detect acceleration, a gyro sensor to detect angular velocity, and the like.

[0062] The sensing device 302 is a sensor that detects the surrounding conditions of the work vehicle 1, and is, for example, a CCD camera equipped with a CCD (Charge Coupled Devices) image sensor, a CMOS camera equipped with a CMOS (Complementary Metal Oxide Semiconductor) image sensor, an infrared camera, or a laser sensor (LiDAR (Light Detection and Ranging)). The laser sensor (LiDAR) detects objects around the moving vehicle body 2 by emitting pulsed infrared light millions of times per second and measuring the time it takes for the light to bounce back.

[0063] The control device 70 controls the operation of the work vehicle 1 (vehicle body 2) so that it can drive autonomously. For the sake of explanation, autonomous driving of the work vehicle 1 (vehicle body 2) is referred to as "autonomous driving". When performing autonomous driving, the control device 70 creates a map (environmental map) showing the environment around the work vehicle 1 (vehicle body 2) based on sensing information detected by the sensing device 302. If the destination of the work vehicle 1 (vehicle body 2) is determined, the control device 70 determines the current position using the positioning device 301 and automatically drives toward the destination while referring to the environmental map. When moving from the current position toward the destination, the control device 70 steers the work vehicle 1 (vehicle body 2) using the steering device 300 and controls the speed of the work vehicle 1 (vehicle body 2) so that it moves along the farm road (road).

[0064] When the work vehicle 1 (vehicle body 2) is performing work in a field, it refers to a pre-set work route (work path) within the field. The control device 70 steers the steering device 300 and controls the speed of the work vehicle 1 (vehicle body 2) so that the work vehicle 1 (vehicle body 2) moves along the work path. Similarly, when the work vehicle 1 (vehicle body 2) is moving on a farm road (road), the control device 70 refers to a pre-set travel route (travel path) on the road (farm road). The control device 70 then steers the steering device 300 so that the work vehicle 1 (vehicle body 2) moves along the travel path. The control device 70 may also control the speed of the work vehicle 1 (vehicle body 2) by controlling the rotational speed of the drive motor 6. Furthermore, the work route and the travel route may be stored in the storage device 310, or, as shown in Figure 26, a communication device 311 capable of communicating with external devices 312 such as a server or mobile terminal may be provided on the work vehicle 1 (traveling vehicle body 2), and the information may be obtained from the external devices 312 via the communication device 311.

[0065] When operating automatically, the control device 70 can also control the coupling device (three-point linkage mechanism 71). For example, when working in a field, the control device 70 activates the coupling device (three-point linkage mechanism 71) by outputting a control signal to the control valve 401. As a result, the control device 70 automatically raises and lowers the working device 49.

[0066] In the embodiment described above, the work vehicle 1 (vehicle body 2) is described as being driven autonomously, but the work vehicle 1 (vehicle body 2) may also be structured to be driven based on commands from an external source. For example, the work vehicle 1 (vehicle body 2) can be driven in response to commands from a remote control device as an external command. In this case, the external device 312 is a remote control device. The remote control device (external device 312) transmits commands such as steering direction, vehicle speed, and coupling device (raising and lowering of the three-point link) to the communication device 311. The control device 70 controls the steering device 300 according to the steering direction, controls the drive motor 6, etc. according to the vehicle speed, and controls the control valve 401 according to the raising and lowering of the coupling device (raising and lowering of the three-point link).

[0067] Tank 7 uses a gas cylinder. The cylinder is formed into a long cylindrical shape using a rigid synthetic resin reinforced with carbon fiber or glass fiber. A neck 7a is formed at the front end of Tank 7. A gas pipe 23 is connected to the neck 7a of Tank 7 via a safety valve (solenoid valve) (not shown). The gas pipe 23 is made of a composite material that combines a synthetic resin capable of preventing hydrogen gas permeation with a flexible metal wire.

[0068] As shown in Figure 1, the tank 7 is housed in the housing section 62.

[0069] As shown in Figure 3, the valve unit 33 collects hydrogen gas sent from each tank 7 through the gas piping 23 and mixes it as appropriate. As shown in Figure 2, the valve unit 33 in this embodiment is located at an intermediate position in the longitudinal direction of the vehicle body 2, between the left front wheel 18L and the left rear wheel 19L (at the left end). The valve unit 33 is equipped with a solenoid valve and the like that can adjust the pressure and flow rate of the hydrogen gas. The valve unit 33 adjusts the pressure and flow rate of the hydrogen gas to a level suitable for generating electricity in the fuel cell stack 8. The hydrogen gas with adjusted pressure and flow rate is sent to the fuel cell stack 8.

[0070] Figures 1-2 and 4-21 show work vehicles 1 with different arrangements of tanks 7, etc., and are the first to tenth arrangement examples. Each of the first to tenth arrangement examples shows a work vehicle 1 in which "at least a portion of the tanks 7 are located at either the front or rear of the vehicle body 2." In other words, each of the first to tenth arrangement examples of work vehicle 1 has at least one tank 7 housed in either the front of the vehicle body 2, the rear of the vehicle body 2, or both the front and rear of the vehicle body 2. The front of the vehicle body 2 is defined as being in front of the point where the vehicle body 2 is half its total length (the center in the front-to-rear direction), and the rear of the vehicle body 2 is defined as being behind the point where the vehicle body 2 is half its total length (the center in the front-to-rear direction). Alternatively, it is located forward of a point that is half the length of the wheelbase between the front wheels 18L, 18R and the rear wheels 18L, 18R, and behind a point that is half the length of the wheelbase of the rear of the vehicle body 2.

[0071] Next, we will explain each of the 1st to 10th arrangement examples individually. [First arrangement example] As shown in Figures 1 and 2, the work vehicle 1 in the first configuration example has three tanks 7 housed in the front of the vehicle body 2 and four tanks 7 housed in the rear of the vehicle body 2. In addition, a fuel cell stack 8 is installed in the rear of the vehicle body 2.

[0072] In other words, in the first example of the configuration, the work vehicle 1 has at least one tank 7 mounted on the front of the vehicle body 2. Also, at least one tank 7 is mounted on the rear of the vehicle body 2.

[0073] Furthermore, in the first example of the configuration, the work vehicle 1 is equipped with multiple tanks (seven in the illustrated example) arranged in a front-to-back direction. These tanks 7 are formed in a cylindrical shape that extends in the width direction of the vehicle body. Moreover, the length of the tanks 7 in the width direction of the vehicle body corresponds to the length of the vehicle body 2 in the width direction.

[0074] In addition, in the first example of the arrangement, the following relationship holds true regarding the dimensions and arrangement of the tank 7 in the work vehicle 1.

[0075] As is apparent from FIG. 2, the length (W1) of the traveling body 2 in the vehicle width direction is slightly shorter than the length (W2) from the right end of the left front wheel 18L to the left end of the right front wheel 18R. And the length (W T ) of the tank 7 is shorter than the length (W1) of the traveling body 2 in the vehicle width direction. That is, between the length (W1) of the traveling body 2 in the vehicle width direction and the length (W T ) of the tank 7, there is a relationship of W t <W1 < W2 holds.

[0076] Also, among the seven tanks 7 arranged in the front - rear direction, the length from the front end of the tank 7 located most forward to the rear end of the tank 7 located most rearward is L T . Let the length from the front ends of the left front wheel 18L and the right front wheel 18R to the rear ends of the rear wheels 19L, 19R (left rear wheel 19L and right rear wheel 19R) be L0. Then, the length L T and the length L0 are substantially equal.

[0077] The work vehicle 1 of the first arrangement example accommodates a plurality of tanks 7 at substantially equal intervals in the front - rear direction, and the weights of the plurality of tanks 7 are evenly applied to the traveling body 2. Therefore, in the work vehicle 1 of the first arrangement example, the effect of achieving a good weight balance in the front - rear direction is obtained. [Second Arrangement Example] As shown in FIGS. 4 and 5, the work vehicle 1 of the second arrangement example accommodates one tank 7 having a length extending from the front end to the rear end of the traveling body 2 (the total length in the front - rear direction). A fuel cell stack 8 is disposed at the rear part of the traveling body 2.

[0078] That is, in the work vehicle 1 of the second arrangement example, at least one or more tanks 7 are disposed at the front part of the traveling body 2. At least one or more tanks 7 are disposed at the rear part of the traveling body 2.

[0079] Also, the work vehicle 1 of the second arrangement example is formed in a cylindrical shape extending in the front - rear direction.

[0080] In the second configuration example, the work vehicle 1 houses a single tank 7 that extends in the front-to-rear direction, and the weight of the single tank 7 is evenly distributed across the vehicle body 2. Therefore, the work vehicle 1 in the second configuration example benefits from improved weight balance in the front-to-rear direction. [Third arrangement example] As shown in Figures 6 and 7, the work vehicle 1 in the third configuration example houses three tanks 7 in the front of the vehicle body 2. However, no tanks 7 are housed in the rear of the vehicle body 2. A fuel cell stack 8 is installed in the rear of the vehicle body 2.

[0081] In other words, the work vehicle 1 in the third configuration example employs a configuration in which at least one tank 7 is mounted on the front of the vehicle body 2, and a fuel cell stack 8 is mounted on the rear of the vehicle body 2.

[0082] Furthermore, in the third arrangement example, the work vehicle 1 has multiple tanks (three in the illustrated example) arranged in a front-to-back direction at the front of the vehicle body 2. These tanks 7 are formed in a cylindrical shape that extends in the width direction of the vehicle body. Moreover, similar to the first arrangement example, the length of the tanks 7 in the width direction of the vehicle body corresponds to the length of the vehicle body 2 in the width direction.

[0083] In the third configuration example, the work vehicle 1 houses multiple heavy tanks 7 at the front of the vehicle body 2, and also houses a fuel cell stack 8. In the work vehicle 1 of the third configuration example, the tanks 7 and the fuel cell stack 8 are easily accessible, improving maintainability and other aspects. [Fourth arrangement example] As shown in Figures 8 and 9, in the fourth configuration example, the work vehicle 1 houses three tanks 7 at the rear of the vehicle body 2, but does not house any tanks 7 at the front of the vehicle body 2. A fuel cell stack 8 is installed at the front of the vehicle body 2.

[0084] In other words, the work vehicle 1 in the fourth configuration example adopts a configuration in which at least one tank 7 is mounted at the rear of the vehicle body 2, and a fuel cell stack 8 is mounted at the front of the vehicle body 2.

[0085] Furthermore, in the fourth arrangement example, the work vehicle 1 has multiple tanks (three in the illustrated example) arranged in a front-to-back direction at the rear of the vehicle body 2. These tanks 7 are formed in a cylindrical shape that extends in the width direction of the vehicle body. Moreover, similar to the first arrangement example, the length of the tanks 7 in the width direction of the vehicle body corresponds to the length of the vehicle body 2 in the width direction.

[0086] In the fourth configuration example, the work vehicle 1 houses multiple tanks 7 at the rear of the vehicle body 2, and a fuel cell stack 8 at the front of the vehicle body 2. In the work vehicle 1 of the fourth configuration example, the tanks 7 and the fuel cell stack 8 are easily accessible, improving maintainability and other aspects. [Fifth arrangement example] As shown in Figures 10 and 11, the work vehicle 1 in the fifth configuration example houses six tanks 7 in the front of the vehicle body 2, but does not house any tanks 7 in the rear of the vehicle body 2. A fuel cell stack 8 is installed in the rear of the vehicle body 2.

[0087] In other words, the work vehicle 1 in the fifth configuration example employs a configuration in which at least one tank 7 is mounted on the front of the vehicle body 2, and a fuel cell stack 8 is mounted on the rear of the vehicle body 2.

[0088] Furthermore, in the fifth arrangement example, the work vehicle 1 has a total of six tanks, stacked in two layers vertically and arranged in a front-to-back direction at the front of the vehicle body 2. These tanks 7 are formed in a cylindrical shape that extends in the width direction of the vehicle body. Moreover, similar to the first arrangement example, the length of the tanks 7 in the width direction of the vehicle body corresponds to the length of the vehicle body 2 in the width direction.

[0089] In the fifth configuration example, the work vehicle 1, like in the third configuration example, houses multiple heavy tanks 7 at the front of the vehicle body 2, and also houses the fuel cell stack 8. Therefore, in the work vehicle 1 of the fifth configuration example, access to both the tanks 7 and the fuel cell stack 8 is easier, improving maintainability and other aspects. In addition to these effects, the work vehicle 1 of the fifth configuration example can also be operated for longer periods compared to the other examples due to the larger number of tanks 7. [Sixth arrangement example] As shown in Figures 12 and 13, in the sixth configuration example, the work vehicle 1 houses four tanks 7 at the front of the vehicle body 2, but does not house any tanks 7 at the rear of the vehicle body 2. A fuel cell stack 8 is installed at the rear of the vehicle body 2.

[0090] In other words, the work vehicle 1 in the sixth configuration example adopts a configuration in which at least one tank 7 is mounted on the front of the vehicle body 2, and a fuel cell stack 8 is mounted on the rear of the vehicle body 2.

[0091] Furthermore, in the sixth example of the configuration, the work vehicle 1 has a total of four tanks 7 positioned at the front of the vehicle body 2: two tanks arranged in the width direction of the vehicle body and two tanks arranged in the front-to-back direction. These tanks 7 are formed in a cylindrical shape that extends in the front-to-back direction.

[0092] In the sixth configuration example, the work vehicle 1 has cylindrical tanks 7 positioned so that their axes are oriented in the front-to-back direction. Therefore, in the work vehicle 1 of the sixth configuration example, the tanks 7 facing each other can be connected by short gas pipes 23, making it easier to access the necks 7a of the tanks 7 compared to other examples. In addition to these effects, the work vehicle 1 of the sixth configuration example can also improve maintainability, taking into account the necks 7a of the tanks 7. [Seventh arrangement example] As shown in Figures 14 and 15, the work vehicle 1 in the seventh arrangement example has 4 at the rear of the traveling vehicle body 2. The vehicle houses tank 7, but does not house tank 7 in the front of the vehicle body 2. The fuel cell stack 8 is located in the front of the vehicle body 2.

[0093] In other words, the work vehicle 1 in the seventh configuration example employs a configuration in which at least one tank 7 is mounted at the rear of the vehicle body 2, and a fuel cell stack 8 is mounted at the front of the vehicle body 2.

[0094] Furthermore, in the seventh example of the arrangement, the work vehicle 1 has a total of four tanks 7 mounted at the rear of the vehicle body 2: two tanks arranged in the width direction of the vehicle body and two tanks arranged in the front-to-back direction. These tanks 7 are formed in a cylindrical shape that extends in the front-to-back direction.

[0095] In the seventh configuration example, the work vehicle 1 is positioned so that the cylindrical tank 7 is oriented along its axis in the front-to-rear direction. Similar to the sixth configuration example, the work vehicle 1 in the seventh configuration example can improve maintainability by considering the neck 7a portion of the tank 7. In addition to these effects, the work vehicle 1 in the seventh configuration example also allows for easier access to both the tank 7 and the fuel cell stack 8, further improving maintainability. [Example of arrangement #8] As shown in Figures 16 and 17, in the eighth arrangement example, the work vehicle 1 houses six tanks 7 in the front of the vehicle body 2, but does not house any tanks 7 in the rear of the vehicle body 2. A fuel cell stack 8 is installed in the rear of the vehicle body 2.

[0096] In other words, the eighth example of the configuration of the work vehicle 1 employs a configuration in which at least one tank 7 is mounted on the front of the vehicle body 2, and a fuel cell stack 8 is mounted on the rear of the vehicle body 2.

[0097] Furthermore, in the eighth example of the arrangement, the work vehicle 1 has a total of six tanks 7 positioned at the front of the vehicle body 2: two tanks arranged in the width direction of the vehicle body and three tanks arranged in the front-to-back direction. These tanks 7 are formed in a cylindrical shape that extends in the vertical direction.

[0098] In the eighth configuration example, the work vehicle 1 has cylindrical tanks 7 arranged with their axes oriented vertically, allowing a large number of tanks 7 to be housed in the front of the vehicle body 2. Therefore, it is easy to increase the number of tanks 7 without having to arrange multiple tanks 7 horizontally in the width direction of the vehicle body and vertically. Furthermore, the work vehicle 1 in the eighth configuration example allows for easy increase in the capacity of the tanks 7. In addition, both the tanks 7 and the fuel cell stack 8 are easily accessible, further improving maintainability. [Example of the 9th arrangement] As shown in Figures 18 and 19, the work vehicle 1 in the ninth configuration example houses six tanks 7 at the rear of the vehicle body 2, but does not house any tanks 7 at the front of the vehicle body 2. A fuel cell stack 8 is installed at the front of the vehicle body 2.

[0099] In other words, the ninth example of the configuration of the work vehicle 1 employs a configuration in which at least one tank 7 is mounted at the rear of the vehicle body 2, and a fuel cell stack 8 is mounted at the front of the vehicle body 2.

[0100] Furthermore, in the ninth example of the configuration, the work vehicle 1 has a total of six tanks 7 mounted at the rear of the vehicle body 2: two tanks arranged in the width direction of the vehicle body and three tanks arranged in the front-to-back direction. These tanks 7 are formed in a cylindrical shape that extends in the vertical direction.

[0101] In the ninth configuration example, the work vehicle 1 has cylindrical tanks 7 arranged with their axes oriented vertically, allowing a large number of tanks 7 to be accommodated at the rear of the vehicle body 2. Therefore, in the ninth configuration example, it is easy to increase the number of tanks 7 without having to arrange multiple tanks 7 horizontally in the width direction of the vehicle body and vertically. In addition, the capacity of the tanks 7 can be easily increased in the ninth configuration example. Furthermore, both the tanks 7 and the fuel cell stack 8 are easily accessible, which further improves maintainability. [Example 10 of the arrangement] As shown in Figures 20 and 21, the work vehicle 1 in the 10th arrangement example differs from the work vehicle 1 in the 1st to 9th arrangement examples in that it is equipped with crawler-type front and rear wheels 18 and 19 instead of wheel-type front and rear wheels 18 and 19.

[0102] In the tenth example of the configuration, the work vehicle 1 houses seven tanks 7 between the front and rear ends of the vehicle body 2. A fuel cell stack 8 is also installed at the rear of the vehicle body 2.

[0103] In other words, the work vehicle 1 in the 10th configuration example is one in which at least one tank 7 is mounted on the front of the vehicle body 2, and also adopts a configuration example in which at least one tank 7 is mounted on the rear of the vehicle body 2.

[0104] Furthermore, in the tenth example of the arrangement, the work vehicle 1 is equipped with multiple tanks (seven in the illustrated example) arranged in the front-to-back direction. These tanks 7 are formed in a cylindrical shape that extends in the width direction of the vehicle body. Moreover, the length of the tanks 7 in the width direction of the vehicle body corresponds to the length of the vehicle body 2 in the width direction.

[0105] In the tenth arrangement example, the work vehicle 1 houses multiple tanks 7 at approximately equal intervals in the front-to-rear direction, similar to the first arrangement example, and the weight of the multiple tanks 7 is evenly distributed on the vehicle body 2. Therefore, the work vehicle 1 in the tenth arrangement example can be made to have a better weight balance in the front-to-rear direction.

[0106] In the first to tenth configuration examples, the arrangement of tank 7 can be organized by pattern into the following configuration patterns shown in (1) to (3). (1) At least one tank 7 is mounted on the front of the vehicle body 2.

[0107] The arrangement patterns in (1) include the first arrangement example shown in Figures 1 and 2, the third arrangement example shown in Figures 6 and 7, and the fifth arrangement example shown in Figures 10 and 11. The arrangement patterns in (1) also include the sixth arrangement example shown in Figures 12 and 13, the seventh arrangement example shown in Figures 16 and 17, and the ninth arrangement example shown in Figures 20 and 21. (2) At least one tank 7 is mounted at the rear of the vehicle body 2.

[0108] The arrangement patterns in (2) include the first arrangement example, the fourth arrangement example shown in Figures 8 and 9, and the seventh arrangement example shown in Figures 14 and 15. The arrangement patterns in (2) include the first arrangement example and the ninth arrangement example shown in Figures 20 and 21.

[0109] The arrangement patterns in (3) are the first arrangement example, the second arrangement example shown in Figures 4 and 5, and the fifth arrangement example shown in Figures 20 and 21.

[0110] Furthermore, focusing on the fuel cell stack 8, which is heavy like the tank 7, and organizing the arrangement patterns, the arrangement patterns in which the fuel cell stack 8 is located at the front of the vehicle body 2 are the fourth arrangement example shown in Figures 8 and 9, the seventh arrangement example shown in Figures 14 and 15, and the eighth arrangement example shown in Figures 18 and 19.

[0111] Furthermore, the arrangement patterns in which the fuel cell stack 8 is positioned at the rear of the vehicle body 2 include the first arrangement example, the second arrangement example shown in Figures 4 and 5, the third arrangement example shown in Figures 6 and 7, the fifth arrangement example shown in Figures 10 and 11, the sixth arrangement example shown in Figures 12 and 13, the seventh arrangement example shown in Figures 16 and 17, and the ninth arrangement example shown in Figures 20 and 21.

[0112] Furthermore, focusing on the fuel cell stack 8, which is heavy like the tank 7, and organizing the arrangement patterns, the arrangement patterns in which the fuel cell stack 8 is located at the front of the vehicle body 2 are the fourth arrangement example shown in Figures 8 and 9, the seventh arrangement example shown in Figures 14 and 15, and the eighth arrangement example shown in Figures 18 and 19.

[0113] Furthermore, the arrangement patterns in which the fuel cell stack 8 is positioned at the rear of the vehicle body 2 include the first arrangement example, the second arrangement example shown in Figures 4 and 5, the third arrangement example shown in Figures 6 and 7, the fifth arrangement example shown in Figures 10 and 11, the sixth arrangement example shown in Figures 12 and 13, the seventh arrangement example shown in Figures 16 and 17, and the ninth arrangement example shown in Figures 20 and 21.

[0114] Each of the work vehicles 1 in the first to tenth arrangement examples described above is equipped with a support member 72.

[0115] For example, the support member 72 is a member that holds the easily rolling tank 7 in a horizontal position. The support member 72 can be shaped like a case that houses the tank 7, or like a rack or a grid-like frame, capable of holding multiple tanks 7 in a horizontal position.

[0116] In the following sections, the support member 72 provided on the work vehicle 1 of this embodiment will be described using Figures 22 to 25.

[0117] The support member 72 shown in Figure 22 (hereinafter referred to as the first support member 72A) holds multiple tanks horizontally and also holds multiple tanks side by side in the front-to-back direction. The first support member 72A is the support member 72 provided on the work vehicle 1 in the first arrangement example shown in Figures 1 and 2.

[0118] The first support member 72A includes a tank unit 31 that accommodates a plurality (seven in the illustrated example) of tanks 7. The tank unit 31 includes a tank casing 32 capable of accommodating one or more tanks 7. The tank casing 32 in the tank unit 31 may be single or multiple. In this embodiment, the first support member 72A (tank unit 31) includes two tank casings 32: a front casing 32F provided at the front of the vehicle body 2 and a rear casing 32R provided at the rear of the vehicle body 2.

[0119] The front casing 32F is located at the front of the vehicle body 2 and houses three tanks 7. The rear casing 32R is located at the rear of the vehicle body 2 and houses four tanks 7. A fuel cell stack 8 is installed above the rear casing 32R. The front casing 32F and the rear casing 32R are installed at approximately the same height vertically and are positioned side by side in the front-to-back direction.

[0120] The tank unit 31 is equipped with a gas pipe 23 (not shown in Figure 22, see Figure 3) for guiding the hydrogen gas from the tank 7, with each tank 7 having its own gas pipe. At the end of the gas pipe 23 is a valve unit 33 that mixes the hydrogen gas introduced through the gas pipe 23, adjusts it to a predetermined flow rate, and then sends it to the fuel cell stack 8. In this embodiment, the valve unit 33 is located outside the tank unit 31, more precisely at an intermediate position in the front-rear direction of the vehicle body 2, between the left front wheel 18L and the left rear wheel 19L (at the left end) (see Figure 2).

[0121] In this embodiment, both the front casing 32F and the rear casing 32R are fixed (rigidly fixed) to the vehicle body 2 by fastening members such as bolts or by welding. Furthermore, both the front casing 32F and the rear casing 32R are formed in a box shape. The front casing 32F and the rear casing 32R are made of thick steel material or the like, have internal dimensions larger than the tank 7, and have an external appearance that opens upwards. By forming the front casing 32F and the rear casing 32R in a box shape, multiple tanks 7 can be arranged and housed inside the box, and the tanks 7 can be protected from the outside both thermally and physically.

[0122] Specifically, the front casing 32F of this embodiment has a rectangular parallelepiped appearance that is longer in the front-rear direction than in the width direction of the vehicle body. The front casing 32F is provided with a bottom portion 34F formed in the shape of a rectangular plate. The bottom portion 34F is formed from a rectangular plate material with sides on the front, rear, left, and right sides. At the front of the front casing 32F, a front wall portion 35F is formed that extends upright in the vertical direction from the front edge (front side) of the bottom portion 34F. At the left side of the front casing 32F, a left wall portion 36F is formed that extends upright in the vertical direction from the left edge (left side) of the bottom portion 34F. At the rear of the front casing 32F, a rear wall portion 37F is formed that extends upright in the vertical direction from the rear edge (rear side) of the bottom portion 34F. At the right side of the bottom portion 34F, a right wall portion 38F is formed that extends upright in the vertical direction from the right edge (right side) of the bottom portion 34F. The front wall section 35F, left wall section 36F, rear wall section 37F, and right wall section 38F are arranged to surround the bottom section 34F. The bottom section 34F of the front casing 32F is fixed to the upper part of the vehicle body 2 by fastening with bolts or by welding or other means.

[0123] Furthermore, the rear casing 32R of this embodiment, like the front casing 32F, has a rectangular parallelepiped appearance that is longer in the front-rear direction than in the vehicle width direction. The rear casing 32R has a bottom portion 34R formed in the shape of a rectangular plate. The bottom portion 34R is formed of a rectangular plate material with sides on the front, rear, left, and right sides. At the front of the rear casing 32R, a front wall portion 35R is formed that extends upright from the front edge (front side) of the bottom portion 34R in the vertical direction. At the left side of the rear casing 32R, a left wall portion 36R is formed that extends upright from the left edge (left side) of the bottom portion 34R in the vertical direction. At the rear of the rear casing 32R, from the rear edge (rear side) of the bottom portion 34R, A rear wall portion 37R is formed that extends upright along the direction. On the right side of the rear casing 32R, a right wall portion 38R is formed that extends upright along the vertical direction from the right edge (right side) of the bottom portion 34R. The front wall portion 35R, left wall portion 36R, rear wall portion 37R, and right wall portion 38R are arranged to surround the bottom portion 34R. The bottom portion 34R of the rear casing 32R is fixed to the upper part of the vehicle body 2 by fastening with bolts or by welding or other means.

[0124] The front casing 32F and the rear casing 32R have notches 39 that are recessed downwards on either the front, rear, left, or right side walls. Specifically, the upper edges of the front wall 35F and rear wall 37F of the front casing 32F have notches 39F that are recessed downwards in an arc shape. Similarly, the upper edges of the front wall 35R and rear wall 37R of the rear casing 32R have notches 39R that are recessed downwards in an arc shape. The number of notches 39F and 39R is the same as the number of tanks that can be accommodated in the tank 7. For example, there are three notches 39 in the front wall 35F and rear wall 37F of the front casing 32F, and four notches 39 in the front wall 35R and rear wall 37R of the rear casing 32R.

[0125] In this way, the front casing 32F and the rear casing 32R can accommodate the tank 7 without causing lateral swaying or rolling by fitting the neck 7a into the notch 39. In addition, multiple tanks 7 can be stably arranged in the tank casing 32 in the width direction of the vehicle body.

[0126] In this embodiment, the tank casing 32 is formed in a box shape, but the tank casing 32 of the present invention may also use shelves or racks capable of accommodating the tank 7. Furthermore, in this embodiment, an example was given in which notches 39 are formed in both the front wall portion 35 and the rear wall portion 37 of the tank casing 32, but the notches 39 may be formed in only one of the front wall portion 35 or the rear wall portion 37 (the side on which the neck 7a of the tank 7 is provided). Moreover, in this embodiment, the side walls forming the notches 39 were the front wall portion 35 and the rear wall portion 37, but the notches 39 may also be formed in the left wall portion 36 and the right wall portion 38 (the tank 7 may be accommodated lying down along the left-right direction).

[0127] The first support member 72A arranges the front casing 32F and rear casing 32R side by side in the front-to-rear direction, thereby arranging the seven tanks 7 horizontally in the front-to-rear direction. By providing such a first support member 72A, the tanks 7, which are prone to rolling, can be stably held in a horizontal, lying-on-the-side position. Furthermore, since the first support member 72A protects the tanks 7 from external impacts and heat, damage to the tanks 7 can be avoided. Moreover, by using a first support member 72A that is divided into multiple components, such as the front casing 32F and rear casing 32R, the multiple tanks 7 can be separated and removed in sections, thereby improving the maintainability of the work vehicle 1.

[0128] The support member 72 shown in Figure 23 (hereinafter referred to as the second support member 72B) holds multiple tanks horizontally and also holds multiple tanks stacked vertically. The second support member 72B is the support member 72 provided on the work vehicle 1 in the fifth arrangement example shown in Figures 10 and 11.

[0129] The second support member 72B includes a tank casing 32 that houses multiple (six in the illustrated example) tanks 7. The tank casing 32 further includes a lower casing 32D located below the front of the vehicle body 2 and an upper casing 32U located above the front of the vehicle body 2. The lower casing 32D houses three tanks 7, and the upper casing 32U houses three tanks 7. The lower casing 32D is fixed to the vehicle body 2 by fastening members such as bolts or by welding. Both the lower casing 32D and the upper casing 32U are formed to have larger internal dimensions than the tanks 7 described above, and are capable of housing multiple tanks 7. In this embodiment, the front casing 32F and rear casing 32R are formed in a box shape that opens upward, using thick steel material that can thermally and physically protect the tanks 7 from the outside.

[0130] Between the lower casing 32D and the upper casing 32U described above, a fixing member is provided at the lower part of the lower casing 32D to connect and fix the upper end of the upper casing 32U. The components can include bolts or the like to fix the upper end of the upper casing 32U to the lower part of the lower casing 32D. Alternatively, the fixing components may include projections or the like that fit the upper end of the upper casing 32U to the lower part of the lower casing 32D.

[0131] The second support member 72B allows multiple tanks 7 to be arranged in a single horizontal location by stacking the lower casing 32D and upper casing 32U described above in a vertical direction. Therefore, if the second support member 72B is provided at the front of the vehicle body 2, many tanks 7 can be accommodated at the front of the vehicle body 2, and if the second support member 72B is provided at the rear of the vehicle body 2, many tanks 7 can be accommodated at the rear of the vehicle body 2.

[0132] By providing such a second support member 72B, the tank 7, which is prone to rolling, can be stably held in a horizontal position, similar to the first support member 72A. Also, similar to the first support member 72A, the second support member 72B protects the tank 7 from external impacts and heat, thus preventing damage to the tank 7. Furthermore, by using a second support member 72B that is divided into multiple components, such as a lower casing 32D and an upper casing 32U, multiple tanks 7 can be separated vertically and removed, improving the maintainability of the work vehicle 1.

[0133] The support member 72 shown in Figure 24 (hereinafter referred to as the third support member 72C) holds multiple tanks horizontally and also holds multiple tanks side by side in the width direction of the vehicle body. The third support member 72C is the support member 72 provided on the work vehicle 1 in the sixth arrangement example shown in Figures 12 and 13.

[0134] The third support member 72C accommodates multiple tanks 7 (four in the illustrated example). Specifically, the third support member 72C accommodates a total of four tanks 7: two in the width direction of the vehicle body and two in the front-to-rear direction. The third support member 72C is fixed to the vehicle body 2 by fasteners such as bolts or by welding. Each of the third support members 72C is formed to have an internal dimension larger than the tanks 7 described above, and is capable of accommodating multiple tanks 7. Similar to the first support member 72A and the second support member 72B described above, the third support member 72C is formed in a box shape that opens upwards, using a thick steel material that can thermally and physically protect the tanks 7 from the outside.

[0135] The third support member 72C allows multiple tanks 7 to be arranged in a line in the width direction of the vehicle body, thereby enabling them to be deployed in a concentrated manner at one location in the front-to-rear direction. Therefore, if the third support member 72C is provided at the front of the vehicle body 2, a large number of tanks 7 can be accommodated at the front of the vehicle body 2, and if the third support member 72C is provided at the rear of the vehicle body 2, a large number of tanks 7 can be accommodated at the rear of the vehicle body 2.

[0136] By providing such a third support member 72C, the tank 7, which is prone to rolling, can be stably held in a horizontal position, similar to the first support member 72A and the second support member 72B. In addition, the third support member 72C protects the tank 7 from external impacts and heat, thus preventing damage to the tank 7.

[0137] Furthermore, the first support member 72A, the second support member 72B, and the third support member 72C described above can also be used in combination. The first support member 72A and the second support member 72B can be combined to stack multiple tanks 7 arranged in the front-to-back direction in multiple layers in the vertical direction. Alternatively, the second support member 72B and the third support member 72C can be combined to stack multiple tanks 7 arranged in the left-to-right direction in multiple layers in the vertical direction.

[0138] Furthermore, when multiple cylindrical tanks 7 extending in the vertical direction are to be held upright in the vertical direction, a fourth support member 72D different from the first support members 72A to the third support members 72C described above can also be used.

[0139] The fourth support member 72D shown in Figure 25 holds multiple tanks in an upright position in the vertical direction, and also holds multiple tanks side by side in the horizontal direction. The fourth support member 72D is the support member 72 provided on the work vehicle 1 in the eighth arrangement example or the ninth arrangement example shown in Figures 16 to 19.

[0140] The fourth support member 72D accommodates multiple tanks 7 (six in the illustrated example). Specifically, the fourth support member 72D accommodates a total of six tanks 7: two in the vehicle width direction and three in the front-to-rear direction. The fourth support member 72D is fixed to the vehicle body 2 by fasteners such as bolts or by welding, similar to the first support members 72A to the third support members 72C. The fourth support member 72D is formed in a box shape that opens upwards, using a thick steel material that can thermally and physically protect the tank 7 from the outside.

[0141] The fourth support member 72D includes a first partition wall 73 that separates multiple tanks 7 in the front-rear direction and a second partition wall 74 that separates multiple tanks 7 in the vehicle width direction (left-right direction) in order to arrange the tanks 7 side by side in the vehicle width direction and the front-rear direction. The number of first partition walls 73 is one less than the number of tanks 7, corresponding to the number of tanks 7 to be accommodated in the front-rear direction relative to the fourth support member 72D. Similarly, the number of second partition walls 74 is one less than the number of tanks 7, corresponding to the number of tanks 7 to be accommodated in the vehicle width direction relative to the fourth support member 72D. Furthermore, the spacing between adjacent first partition walls 73, and the spacing between the first partition walls 73 and the outer wall of the fourth support member 72D are formed to be slightly larger than the outer diameter of the tank 7. Furthermore, the spacing between adjacent second partition walls 74, and the spacing between the second partition wall 74 and the outer wall of the fourth support member 72D, are formed to a dimension slightly larger than the outer diameter of the tank 7.

[0142] By providing the first partition wall 73 and the second partition wall 74, even if multiple tanks 7 are lined up in an upright position, the tanks 7 will not tip over, and multiple tanks 7 can be stably arranged. Furthermore, if multiple tanks 7 are lined up horizontally in an upright position, a large number of tanks 7 can be concentrated and deployed in one location horizontally. Therefore, by providing the fourth support member 72D, it becomes possible to accommodate a large number of tanks 7 on top of the vehicle body 2.

[0143] The work vehicle 1 of the present invention comprises a vehicle body 2 that can be driven by an external command and to which a work device 49 can be attached, a drive device 5 provided on the vehicle body 2 and which generates driving force for the vehicle body 2, a tank 7 that contains gas which is the energy source for the driving force, and a control device 70 that controls the movement of the vehicle body 2 autonomously or based on an external command, with at least a part of the tank 7 located at either the front or rear of the vehicle body 2.

[0144] If at least a portion of the tank 7 is positioned at either the front or rear of the vehicle body 2 in this manner, the heavy tank 7 can be positioned in an optimal balance in the front-rear direction when the vehicle is moving autonomously or based on external commands.

[0145] In the work vehicle 1 of the present invention, the drive unit 5 includes a fuel cell (fuel cell stack) 8 that generates electricity from the gas in the tank 7, a battery 20 that stores the electricity generated by the fuel cell 8, and a drive motor 6 that is driven by the electricity generated by the fuel cell 8.

[0146] In a fuel cell vehicle equipped with a fuel cell 8, a battery 20, and a drive motor 6, the tank 7 tends to be the heaviest component, making it easier to clearly achieve the effect of positioning the tank 7 with an optimal balance in the front-rear direction.

[0147] In the work vehicle 1 of the present invention, at least one tank 7 is located at the front of the vehicle body 2, and the fuel cell 8 is located at the rear of the vehicle body 2.

[0148] By positioning the heavy tank 7 at the front of the vehicle body 2 in this manner, it becomes easier to balance the weight of the work vehicle 1 in the front-to-rear direction, such as when connecting the work equipment 49 to the rear.

[0149] In the work vehicle 1 of the present invention, multiple tanks 7 are arranged in a line in the front-to-back direction.

[0150] By arranging multiple tanks 7 in a front-to-back direction in this manner, the dimensions of the vehicle body 2 along the width direction can be reduced, thus providing a work vehicle 1 that is ideal for small machines working in confined workspaces.

[0151] In the work vehicle 1 of the present invention, the tank 7 is formed in a cylindrical shape that extends in the width direction of the vehicle body, and the length of the tank 7 in the width direction of the vehicle body corresponds to the length of the vehicle body 2 in the width direction of the vehicle body.

[0152] By forming the tank 7 in a cylindrical shape that extends in the width direction of the vehicle body, and by making the length of the tank 7 in the width direction of the vehicle body correspond to the length of the vehicle body 2 in the width direction, it becomes possible to accommodate a large number of tanks 7 efficiently on top of the vehicle body 2.

[0153] In the work vehicle 1 of this embodiment, the tank 7 is formed in a cylindrical shape that extends in the front-rear direction.

[0154] By forming the tank 7 in a cylindrical shape extending in the front-to-back direction in this way, the tank 7 can be efficiently housed on top of the vehicle body 2 without protruding outward in the width direction from the vehicle body 2, and It becomes possible to obtain a compact and slim work vehicle 1.

[0155] In the work vehicle 1 of the present invention, the length of the tank 7 in the front-rear direction corresponds to the length from the front to the rear of the vehicle body 2.

[0156] By making the length of the tank 7 in the front-to-rear direction correspond to the length from the front to the rear of the vehicle body 2, the tank 7 can be efficiently housed on top of the vehicle body 2 without protruding from the vehicle body 2 in the front-to-rear direction, and the tank 7 can be efficiently housed in the work vehicle 1.

[0157] In the work vehicle 1 of the present invention, multiple tanks 7 are arranged in a line in the front-to-back direction.

[0158] By arranging multiple tanks 7 in a front-to-back direction in this manner, the tanks 7 can be efficiently housed on top of the vehicle body 2 without protruding outward in the width direction from the vehicle body 2, resulting in a compact and slim work vehicle 1.

[0159] In the work vehicle 1 of the present invention, the tank 7 is formed in a cylindrical shape that extends in the vertical direction.

[0160] By forming the tank 7 in a cylindrical shape that extends vertically, it becomes possible to consolidate and house a large number of tanks 7 on the upper part of the vehicle body 2, thus enabling the efficient and efficient storage of numerous tanks 7 on the upper part of the vehicle body 2.

[0161] In the work vehicle 1 of the present invention, at least one tank 7 is provided at the rear of the vehicle body 2, and the fuel cell 8 may be provided at the front of the vehicle body 2.

[0162] By placing at least one heavy tank 7 at the rear of the vehicle body 2 and the fuel cell 8 at the front of the vehicle body 2, a greater weight can be placed at the rear in the longitudinal direction, thereby achieving weight balance in the longitudinal direction.

[0163] In the work vehicle 1 of the present invention, at least one tank 7 is provided at the rear of the vehicle body 2, the fuel cell 8 is provided at the front of the vehicle body 2, and multiple tanks 7 may be provided in a row in the front-to-rear direction.

[0164] By arranging multiple tanks 7 in a front-to-back direction at the rear of the vehicle body 2 in this manner, it becomes possible to place a large number of heavy tanks 7 at the rear of the vehicle body 2, thereby allowing for greater weight to be applied to the rear in the front-to-back direction.

[0165] In the work vehicle 1 of the present invention, at least one tank 7 is provided at the rear of the vehicle body 2, the fuel cell 8 is provided at the front of the vehicle body 2, and multiple tanks 7 may be provided side by side in the width direction of the vehicle body.

[0166] By arranging multiple tanks 7 in a line along the width of the vehicle body at the rear of the vehicle body 2 in this manner, it becomes possible to place a large number of heavy tanks 7 at the rear of the vehicle body 2, thereby allowing for greater weight to be placed towards the rear in the front-to-rear direction.

[0167] In the work vehicle 1 of the present invention, at least one tank 7 is provided at the rear of the vehicle body 2, and the fuel cell 8 is provided at the front of the vehicle body 2. The tank 7 may be formed in a cylindrical shape that extends in the vertical direction.

[0168] By forming the tank 7 into a cylindrical shape extending vertically and then deploying it at the rear of the vehicle body 2, a large number of heavy tanks 7 can be concentrated at the rear of the vehicle body 2, making it possible to place a greater weight towards the rear in the front-to-back direction.

[0169] While embodiments of the present invention have been described above, the embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims rather than by the foregoing description, and all modifications within the meaning and scope of equivalence to the claims are intended to be included. [Explanation of Symbols]

[0170] 1. Work vehicles 2. Running vehicle 5. Drive unit 6. Drive motor 7 tanks 8. Fuel cell stack (fuel cell) 20 batteries 49 Working equipment 70 Control device

Claims

1. A vehicle body that can operate autonomously based on external commands and to which work equipment can be attached via a three-point linkage mechanism, A drive device provided on the vehicle body and generating the driving force of the vehicle body, A tank for containing the gas which is the energy source for the aforementioned driving force, A fuel cell that generates electricity using the gas in the aforementioned tank, A battery for storing the electricity generated by the fuel cell, A drive motor driven by the electricity generated by the aforementioned fuel cell, A control device that controls the movement of the vehicle body autonomously or based on external commands, controls the three-point linkage mechanism to automatically raise and lower the work device during automatic driving, controls the steering device according to the steering direction, controls the drive motor according to the vehicle speed, and controls the control valve according to the raising and lowering of the coupling device in response to commands from a remote control device, A PTO shaft is provided at the rear of the vehicle body and operates the work device using electricity generated by the fuel cell, Equipped with, The aforementioned vehicle body has a long frame material that is extended in the front-to-rear direction and is provided at the bottom, and a cover that covers the upper part of the frame material. A drive motor, which is built into the drive device, is provided at the lower center of the frame material in the front-rear direction. When the area in front of the drive motor is considered the front of the vehicle body and the area behind the drive motor is considered the rear of the vehicle body, A work vehicle in which, between the frame material and the cover of the vehicle body, at least a portion of the tank is provided at either the front or rear of the vehicle body, and the fuel cell is provided at the other end.

2. A traveling device that supports and moves the traveling vehicle body, The aforementioned running gear has front wheels that support the front of the running vehicle body and rear wheels that support the rear of the running vehicle body. The front end of the cover is located in front of the front wheel in the front-rear direction. The rear end of the cover is located behind the rear wheel in the front-rear direction. The space between the frame material and the cover forms a hollow housing section. Either the tank or the fuel cell is positioned within the housing so that its position in the front-rear direction coincides with that of the front wheel. The work vehicle according to claim 1, wherein the other of the tank and the fuel cell is positioned within the housing so that its position in the front-rear direction coincides with that of the rear wheel.

3. The aforementioned tank is positioned at least one at the front of the vehicle body. The work vehicle according to claim 2, wherein the fuel cell is located at the rear of the vehicle body.

4. The work vehicle according to claim 2, wherein the aforementioned tanks are arranged in a row in the front-to-back direction.

5. The aforementioned tank is formed in a cylindrical shape that extends in the width direction of the vehicle body, The work vehicle according to claim 3, wherein the length of the tank in the width direction of the vehicle body corresponds to the length of the vehicle body in the width direction of the traveling vehicle.

6. The work vehicle according to claim 2, wherein the tank is formed in a cylindrical shape extending in the front-rear direction.

7. The work vehicle according to claim 6, wherein the length of the tank in the front-to-rear direction corresponds to the length from the front to the rear of the vehicle body, and is formed as a single cylindrical shape.

8. The work vehicle according to claim 5, wherein the aforementioned tanks are arranged in a row in the front-to-back direction.

9. The work vehicle according to claim 4, wherein the tank is formed in a cylindrical shape extending in the vertical direction.

10. The aforementioned tank is positioned at least one at the rear of the vehicle body. The work vehicle according to claim 2, wherein the fuel cell is located at the front of the vehicle body.

11. The work vehicle according to claim 10, wherein the aforementioned tanks are arranged in a row in the front-to-back direction.

12. The work vehicle according to claim 11, wherein the aforementioned tanks are arranged in a plurality in line in the width direction of the vehicle body.

13. The work vehicle according to claim 12, wherein the tank is formed in a cylindrical shape extending in the vertical direction.

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