Specification
Title of invention: Work vehicle and tractor
Technical field

　The present invention relates to, for example, a work vehicle such as a tractor or a rice transplanter, which is provided with an inertial measurement unit (IMU) for measuring inertial information accompanying a change in the posture of a vehicle body. The present invention also relates to a tractor capable of automatically traveling by receiving satellite positioning information and measuring the behavior of a vehicle body with an inertial measurement unit during traveling to improve the accuracy of automatic traveling.
Background technology
[0002]
　In the tractor as an example of the work vehicle, conventionally, as an inertial measurement unit, for example, a three-axis gyro and a three-direction accelerometer are provided, and a configuration for obtaining a three-dimensional angular velocity and acceleration is provided, that is, the posture of the traveling vehicle body, that is, , There is a device that obtains the tilted state and turning state in the front-back direction and the left-right direction, and this inertial measurement unit is integrated in the same case as the GPS antenna that receives the satellite positioning information transmitted from the GPS satellite. Some of them were stored in (see, for example, Patent Document 1). Further, among the tractors of this type, a tractor that does not include a driving cabin has a GPS antenna that is housed inside a control panel of a vehicle body (for example, see Patent Document 2).
[0003]
　Therefore, in the tractor of the type that does not include the driving cabin, the inertial measurement device is housed inside the control panel section.
　In addition, as a technology related to the tractor having the above-mentioned structure capable of automatic traveling, a GPS antenna, a circuit board, and an inertial measurement device are used for automatically traveling autonomously along a traveling route set by using a satellite positioning system. There is a technique of an antenna unit in which the above is integrally housed in a housing (see, for example, Patent Document 1).
[0004]
　Further, conventionally, a work vehicle disclosed in Patent Document 3 is known.
　The work vehicle disclosed in Patent Document 3 includes a traveling machine body having a traveling device, a working device that performs work on a field, a steering unit that can steer the traveling device, and a reception unit that acquires position information by a satellite positioning system. A device, an inertial measurement unit that measures inertial information, a generator that generates a target line for traveling the traveling aircraft, position information, and inertial information so that the traveling aircraft travels along the target line. It is equipped with a control unit that controls the steering unit.
Prior art documents
Patent documents
[0005]
Patent Document 1: Japanese Patent Publication "Japanese Patent Laid-Open No. 2016-94093"
Patent Document 2: Japanese Patent Publication "Japanese Patent Application Laid-Open No. 2016-16562"
Patent Document 3: Japanese Patent Publication "Japanese Patent Laid-Open No. 2017-" No. 112962 publication"
Summary of the invention
Problems to be Solved by the Invention
[0006]
　If the inertial measurement device is configured to be housed inside the control panel unit, the rigidity of the control panel unit is not so high, so the portion supporting the inertial measurement device may bend and deform. An engine that generates vibration is provided on the front side of the vehicle body, and the vibration of the engine may adversely affect the inertial measurement unit during work driving, which causes an error in the measurement result of the inertial measurement unit. Was likely to occur.
　Therefore, it has been desired to enable the inertial measurement unit to accurately measure the inertial information accompanying the change in the posture of the vehicle body.
[0007]
　Further, in the conventional configuration of the tractor capable of automatic traveling, the housing of the antenna unit is attached to the roof of the cab of the tractor, and the inertial measurement device, the moving GPS antenna, and the speaker are provided inside the housing. , The lamp and the circuit board are integrally housed. This conventional autonomous vehicle has an inertial measuring device and is connected to the control device in order to obtain information about the change in the posture of the vehicle body. The inertial measurement device is equipped with a triaxial gyro and an accelerometer to obtain a three-dimensional angular velocity and acceleration.
[0008]
　However, if the roof of the tractor cabin is equipped with an inertial measurement unit, for example, if the wheels fall into a recess in the ground and the vehicle body sways, false detection will occur even if the vehicle body is not significantly off the travel path. There was something.
　For this reason, a tractor capable of suppressing erroneous detection in an inertial measurement unit has been desired.
[0009]
　Further, in the above work vehicle, the automatic steering control of the traveling body can be accurately performed based on the position information acquired by the receiving device and the inertia information measured by the inertial measuring device. There was room for improvement in order to reduce the measurement error of the inertial measurement unit caused by the vibration of the (running vehicle body) and the like.
　Therefore, a work vehicle that can reduce the measurement error of the inertial measurement device due to the vibration of the traveling vehicle body has been desired.
Means for solving the problems
[0010]
　A work vehicle according to an aspect of the present invention includes an inertial measurement device that measures inertial information of a vehicle body, a rear axle that supports rear wheels for traveling, and a mission case that rotatably supports the rear axle. The inertial measurement unit is provided at a location overlapping the mission case in a plan view.
　Preferably, the inertial measurement device is arranged above a drive shaft center of the rear axle.
[0011]
　Preferably, an elevating cylinder for elevating and lowering the working device and a cylinder case accommodating the elevating cylinder are provided, and the inertial measurement device is arranged above the cylinder case.
　Preferably, a differential device capable of providing a speed difference to the driving speeds of the left and right rear axles is provided, and the inertial measurement device is arranged above the differential device.
[0012]
　Preferably, the inertial measurement device is arranged at a position overlapping the rear axle in a plan view.
　Preferably, a driver's seat on which a driver can sit is provided, and the inertial measurement device is arranged below the driver's seat.
　Preferably, the inertial measurement unit is arranged at a position overlapping the rear wheel in a side view.
　Preferably, a fall protection lops arranged in the vicinity of the mission case and an antenna unit for receiving satellite positioning information are provided, and the antenna unit is supported by the lops.
[0013]
　A tractor according to an aspect of the present invention includes an inertial measurement device that measures inertial information of a vehicle body, and left and right rear wheels for traveling, and a mission case of the vehicle body that transmits a driving force to the rear wheels, or The inertial measurement unit is provided at a position adjacent to a rigid body member formed of a vehicle body frame.
[0014]
　As another configuration, the rigid body member is composed of a pair of left and right vehicle body frames arranged on the left and right sides of the mission case, and the inertial measurement unit is arranged in an intermediate region between the left and right vehicle body frames in a plan view. You may.
　As another configuration, the inertial measurement device may be fixed to a lower region of the rigid member via a fixing bracket.
[0015]
　As another configuration, fenders may be provided at positions covering above the left and right rear wheels, and the inertial measurement unit may be arranged at an intermediate position between the left and right fenders in a front view.
　As another configuration, the inertial measurement unit may be provided at a position overlapping the rear wheel in a side view.
　As another configuration, the inertial measurement device may be fixed while being housed in the mud removal case.
[0016]
　A work vehicle according to an aspect of the present invention includes a traveling vehicle body that is capable of traveling by either manual steering using a steering wheel or automatic steering of the steering wheel based on a planned traveling line; The steering wheel is automatically steered based on the receiving device that receives the satellite signal, the inertial measurement unit that measures the inertia of the traveling vehicle body, the signal received by the receiving device, and the inertia measured by the inertial measurement unit. It is provided with an automatic steering mechanism, a vibration-proof member that suppresses vibration of the inertial measurement unit, and a support member that supports the inertial measurement unit on the traveling vehicle body via the vibration-proof member.
[0017]
　Preferably, a drive unit that drives the traveling vehicle body and a housing that covers the drive unit are provided, and the support member supports the inertial measurement device in the housing via the vibration isolation member.
　Preferably, a support plate attached to the housing is provided, and the support member is arranged below the support plate and has an attachment portion to which the inertial measurement unit is attached, and an anti-vibration member rising from the attachment portion. And a fixing portion fixed to the support plate via the fixing plate.
[0018]
　Preferably, the vehicle includes a driver's seat provided on the traveling vehicle body, and the support plate supports the driver's seat from below.
　Preferably, the fixing portion is fixed to the support plate by a bolt, and the vibration isolating member is interposed between the bolt and the fixing portion and between the fixing portion and the support plate. There is.
[0019]
　Preferably, the housing is a mission case and the support plate is attached to the top of the mission case.
　Preferably, the support plate has an opening provided above the inertial measurement unit, and the inertial measurement unit is exposed from the opening.
Effect of the invention
[0020]
　According to the work vehicle according to the present invention, the mission case that rotatably supports the rear axle constitutes a part of the structure (frame) that supports the vehicle body, has high rigidity, and may be deformed. Few. With respect to such a mission case, the inertial measurement device is arranged at an overlapping position in a plan view. As a result, since the inertial measurement unit is provided in a state where it overlaps with the mission case having high rigidity and less possibility of deformation in a plan view, the supported portion is not deformed. Further, in this type of work vehicle, the engine is often installed inside a hood located in the front part of the vehicle body, and the inertial measurement device is less susceptible to the vibration of the engine. As a result, errors generated due to deformation of the supported portion or the influence of vibration are reduced, and measurement accuracy can be improved.
　Therefore, it becomes possible to accurately measure the inertial information associated with the change in the attitude of the vehicle body by the inertial measurement device.
[0021]
　According to the tractor of the present invention, the position adjacent to the rigid member made up of the mission case or the vehicle body frame is lower than the vehicle body roof compared to the roof of the cabin, for example. Since the amount is small and the rigid body member is hardly elastically deformed, by providing the inertial measurement unit at this portion, the inertial measurement unit does not measure a value larger than the actual value when the vehicle body shakes.
　Therefore, a tractor capable of suppressing false detection in the inertial measurement unit has been constructed.
[0022]
　According to the work vehicle according to the present invention, it is possible to reduce the measurement error of the inertial measurement unit due to the vibration of the traveling vehicle body or the like. Specifically, the vibration isolator prevents the vibration of the traveling vehicle body and the like from being transmitted to the inertial measurement unit. Therefore, the measurement error of the inertial measurement unit can be reduced, and the automatic steering can be performed accurately.
A brief description of the drawing
[0023]
[Fig. 1] It is a side view of a tractor.
FIG. 2 is a plan view of a tractor.
[Fig. 3] It is a front view of a tractor.
FIG. 4 is a bottom view showing the adjusting mechanism.
FIG. 5 is a rear view of the tractor.
FIG. 6 is a vertical sectional front view showing a wiring supporting structure.
FIG. 7 is a side view of a tractor according to another embodiment.
FIG. 8 is a plan view of a tractor according to another embodiment.
FIG. 9 is a front view of a tractor according to another embodiment.
FIG. 10 is a side view of a tractor according to another embodiment.
FIG. 11 is a plan view of a tractor according to another embodiment.
FIG. 12 is a front view of a tractor according to another embodiment.
FIG. 13 is a side view of a tractor according to another embodiment.
FIG. 14 is a plan view of a tractor according to another embodiment.
FIG. 15 is a side view of a tractor according to another embodiment.
FIG. 16 is a plan view of a tractor according to another embodiment.
FIG. 17 is a side view of a tractor according to another embodiment.
FIG. 18 is a side view of a tractor according to another embodiment.
FIG. 19 is a side view of a tractor according to another embodiment.
FIG. 20 is a plan view of a tractor according to another embodiment.
FIG. 21 is a side view of a tractor according to another embodiment.
FIG. 22 is a front view of a tractor according to another embodiment.
FIG. 23 is a side view of a tractor according to another embodiment.
FIG. 24 is a side view of a tractor according to another embodiment.
FIG. 25 is a rear view of the tractor of another embodiment.
FIG. 26 is a side view of a tractor according to another embodiment.
FIG. 27 is a side view of a tractor according to another embodiment.
FIG. 28 is a front view of a tractor according to another embodiment.
FIG. 29 is a side view of the tractor of another embodiment.
FIG. 30 is a side view of the tractor.
FIG. 31 is a plan view of a tractor.
FIG. 32 is a front view of the tractor.
FIG. 33 is a rear view of the tractor.
FIG. 34 is a side view showing wiring between the positioning unit and the horizontal frame portion.
FIG. 35 is a cross-sectional view of a mounting bracket and a horizontal frame.
FIG. 36 is a cross-sectional view showing wiring inside the lops.
FIG. 37 is a front view of a lops according to another embodiment a.
FIG. 38 is a side view of a lops according to another embodiment a.
FIG. 39 is a side view showing the structure of the mounting bracket of another embodiment a.
FIG. 40 is a side view showing a structure of a mounting bracket according to another embodiment a.
FIG. 41 is a side view showing the structure of a mounting bracket of another embodiment a.
FIG. 42 is a side view of the tractor of another embodiment b.
FIG. 43 is a front view of a tractor of another embodiment b.
FIG. 44 is a block circuit diagram of a control configuration of another embodiment b.
FIG. 45 is a side view of the tractor of another embodiment b.
FIG. 46 is a front view of the tractor of another embodiment b.
FIG. 47 is a side view of the tractor of another embodiment c.
FIG. 48 is a front view of the tractor of another embodiment c.
FIG. 49 is a partially cutaway side view of the bonnet of another embodiment c.
FIG. 50 is a side view of the tractor of another embodiment d.
FIG. 51 is a front view of the tractor of another embodiment d.
FIG. 52 is a side view of the front guard of another embodiment d.
FIG. 53 is a side view of the tractor of another embodiment e.
FIG. 54 is a side view of a tractor of another embodiment e.
FIG. 55 is a partially cutaway side view of the canopy of another embodiment e.
FIG. 56 is a rear view of the canopy of another embodiment e.
FIG. 57 is a plan view showing a travel route of another embodiment f.
FIG. 58 is a side view of the tractor of another embodiment f.
FIG. 59 is a front view of a tractor of another embodiment f.
FIG. 60 is a plan view of a position adjusting mechanism of another embodiment f.
FIG. 61 is a plan view of a position adjusting mechanism of another embodiment f.
FIG. 62 is a side view of a tractor of another embodiment g.
FIG. 63 is a plan view of the tractor of another embodiment g.
FIG. 64 is a cross-sectional view showing the wiring inside the front rops of another embodiment g.
FIG. 65 is a side view of the tractor of another embodiment g.
FIG. 66 is a front view of the tractor of another embodiment g.
FIG. 67 is a side view of the tractor of another embodiment h.
FIG. 68 is a rear view of the tractor of another embodiment h.
FIG. 69 is a side view of the tractor of another embodiment h.
FIG. 70 is a side view of the tractor of another embodiment i.
FIG. 71 is a front view of the tractor of another embodiment i.
FIG. 72 is a side view of a tractor according to another embodiment i.
FIG. 73 is a side view of the tractor of another embodiment j.
FIG. 74 is a side view of the tractor of another embodiment j.
FIG. 75 is a rear view of the tractor of another embodiment j.
FIG. 76 is a side view of the tractor of another embodiment k.
FIG. 77 is a plan view of the tractor of another embodiment k.
FIG. 78 is a front view of the tractor of another embodiment k.
FIG. 79 is a side view of the tractor of another embodiment L.
FIG. 80 is a plan view of a tractor according to another embodiment L.
FIG. 81 is a front view of a tractor of another embodiment L.
FIG. 82 is a diagram showing a configuration and a control block diagram of a work vehicle (tractor).
FIG. 83 is an explanatory diagram illustrating automatic steering.
FIG. 84A is an explanatory diagram illustrating a correction amount in the push switch.
FIG. 84B is an explanatory diagram illustrating a correction amount in the slide switch.
FIG. 85A is a diagram showing a first correction unit and a second correction unit in a push switch.
FIG. 85B is a diagram showing a first correction unit and a second correction unit in the slide switch.
[Fig. 86A] Shows the state when the calculated vehicle body position shifts to the right while traveling straight during automatic steering.
[Fig. 86B] Shows the state when the calculated vehicle body position shifts to the left while traveling straight during automatic steering.
FIG. 87 is an explanatory diagram illustrating an automatic operation.
FIG. 88 is a plan view showing a main part of the internal structure of the front part of the traveling vehicle body.
FIG. 89 is a left side view showing the main part of the internal structure of the front part of the traveling vehicle body.
FIG. 90 is a right side view showing a main part of the internal structure of the front part of the traveling vehicle body.
FIG. 91 is a rear view showing the main part of the internal structure of the front part of the traveling vehicle body.
FIG. 92 is a rear view showing a steering handle, a cover and the like.
[Fig. 93] Fig. 93 is a view of a panel cover or the like viewed from a direction perpendicular to the display surface of the display device.
FIG. 94 is a view of the panel cover and the like as viewed from above in the axial direction of the steering shaft.
FIG. 95 is a left side view illustrating the operation of the steering selector switch.
FIG. 96 is a rear perspective view showing a main part of the internal structure of the front part of the traveling vehicle body.
FIG. 97 is an enlarged plan view showing a part (front portion) of FIG. 88.
FIG. 98 is a right rear perspective view showing a steering handle, a gear mechanism and the like.
FIG. 99 is a diagram showing the gear mechanism as viewed from the left.
FIG. 100 is a perspective view showing a mounting structure of the inertial measurement device.
FIG. 101 is a plan view showing the attachment structure of the inertial measurement device.
FIG. 102 is a perspective view showing an inertial measurement device, a support member, a vibration damping member, and a support plate.
FIG. 103 is a right side view showing the attachment structure of the inertial measurement device.
FIG. 104 is an enlarged right side view showing the rear portion of the attachment structure for the inertial measurement device.
FIG. 105 is a cross-sectional view taken along the line AA of FIG. 101.
FIG. 106 is an enlarged cross-sectional view showing a part (left portion) of FIG. 105.
FIG. 107 is a schematic plan view illustrating a mounting position of the inertial measurement device.
FIG. 108 is a diagram showing an example of a first screen and a second screen which are switched by a screen switch.
FIG. 109 is a left side view of a work vehicle (tractor).
FIG. 110 is a plan view of a work vehicle (tractor).
MODE FOR CARRYING OUT THE INVENTION
[0024]
<1.
　First Embodiment> First, the first embodiment of the present invention will be described with reference to the drawings.
　Hereinafter, an embodiment of a tractor, which is an example of a work vehicle according to a first embodiment of the present invention, will be described with reference to the drawings.
　Figures 1, 2, 3 and 5 show the tractor according to the present invention. In this embodiment, the direction indicated by the symbol F in FIG. 1 is the front side of the tractor, and the direction indicated by the symbol B is the rear side of the tractor. Further, the direction indicated by reference numeral R shown in FIG. 2 is on the right side of the tractor, and the direction indicated by reference numeral L is on the left side of the tractor.
[0025]
　As shown in FIG. 1, the tractor is wholly supported by a vehicle body frame 1 that forms a framework of the vehicle body, and has left and right front wheels 2 that can be changed in direction and can be driven, and left and right rear wheels 3 that can be driven in a fixed direction. The traveling vehicle body 4 is configured with the above. The engine 6 is mounted in the bonnet 5 at the front of the vehicle body, and the driving unit 7 is provided at the rear side of the vehicle body.
　As shown in FIGS. 1 and 2, the traveling vehicle body 4 has a rear part thereof to which a working device (not shown) such as a tilling device can be attached/detached and can be lifted and lowered in a state in which the working device is connected. A link mechanism 8 is provided. A transmission case 10 is provided below the driving unit 7 to transmit the power transmitted from the engine 6 to the left and right rear wheels 3 via the rear axle 9. The transmission case 10 is provided with a differential device 11 capable of giving a speed difference to the driving speed of the left and right rear axles 9, and the power from the engine 6 is transmitted via the differential device 11 to the left and right rear wheels 3. It is distributed to and transmitted. The mission case 10 rotatably supports the rear axle 9.
[0026]
　In this embodiment, the engine 6 located at the front of the vehicle body, the clutch housing 12 connected to the rear of the engine 6, the intermediate frame 13, the mission case 10 located at the rear of the vehicle body, and the like are integrally connected to the vehicle body with high rigidity. A frame 1 is formed.
　At the upper part of the mission case 10, a hydraulic lifting cylinder 14 that drives the working device up and down via a link mechanism 8 is provided. The lift cylinder 14 is housed in a cylinder case 15. A swing arm 16 that swings by expanding and contracting the lifting cylinder 14 is provided in the cylinder case 15, and a lift arm 17 that swings integrally with the swing arm 16 and a link mechanism 8 are lifted. It is pivotally connected via a rod 18.
[0027]
　The driver 7 includes a driver's seat 19 on which a driver can sit, a boarding step 20 located on the front side of the driver's seat 19 to form the floor surface of the driver 7, and a front wheel steering wheel located in front of the driver's seat 19. A steering panel section 23 including a steering wheel 21 and other operating tools 22 is provided. Rear wheel fenders 24 that cover the upper parts of the left and right rear wheels 3 are provided on both the left and right sides of the driver's seat 19, and the rear wheel fenders 24 are also provided with a plurality of operating tools 25 for work.
[0028]
　On the rear side of the driver's part 7, both left and right sides are connected to the rear end of the vehicle body frame 1, that is, the rear end of the mission case 10, and the upper part of the driver's seat 19 extends upward to surround the upper part of the rear side of the driver's seat 19. A protective rops 26 is provided. That is, the LOPS 26 has a pair of left and right vertical frame portions 26a extending along the vertical direction, and a horizontal frame portion 26b connecting the upper ends of the left and right vertical frame portions 26a and extending along the horizontal direction. It is formed in a substantially gate shape when viewed from the front. The lops 26 are made of a hollow square pipe material, and have a shape obtained by bending the square pipe material in a substantially gate shape in a front view.
[0029]
　The rops 26 is configured to be bendable around a lateral swing fulcrum X provided at the lower part. With this configuration, the LOPS 26 can be swung toward the front side of the machine body around the swing fulcrum X when the car body is being transported, thereby reducing the amount of protrusion upward and hindering the transportation. It can be avoided.
　The traveling vehicle body 4 has a controller 30 for traveling control, a steering motor (not shown) capable of steering the front wheels 2, and a well-known GPS (Global Positioning System) which is an example of GNSS (Global Navigation Satellite System). ) (Global Positioning System) is provided to provide a positioning unit 31 and the like for measuring the position and orientation of the traveling vehicle body 4.
[0030]
　The positioning unit 31 receives a radio wave transmitted from a GPS satellite (not shown) and data transmitted from a reference station (not shown) installed at a known position, and an antenna unit 32 for satellite navigation, and A satellite navigation device 33 that measures the position and orientation of the traveling vehicle body 4 based on the positioning data of the positioning unit 31 is provided. As a positioning method using GPS, in the present embodiment, the position of the vehicle body can be measured using GPS positioning data and error correction information transmitted from a reference station whose position is known on the ground side in advance. D-GPS (Differential GPS) that can be used is adopted. The reference station transmits the error correction information obtained by receiving the radio waves from the GPS satellites by wireless communication. The satellite navigation device 33 obtains the position and azimuth of the traveling vehicle body 4 based on the positioning data obtained by receiving the radio waves from the GPS satellites and the information from the reference station.
[0031]
　The positioning unit 31 including the antenna unit 32 is arranged at a high position while facing the outside of the machine body so that the reception sensitivity of the radio wave from the GPS satellite is high. Specifically, as shown in FIG. 1, the positioning unit 31 is provided in the horizontal frame portion 26b at the top (highest position) of the rops 26. The positioning unit 31 is mounted via a mounting bracket 34 in the vicinity of the central portion in the lateral direction of the horizontal frame portion 26b. That is, the antenna unit 32 is provided at a position higher than the upper end of the driver's seat 19 and above the swing fulcrum X of the lops 26.
[0032]
　An adjustment mechanism 35 capable of adjusting the mounting position of the positioning unit 31 in the left-right direction with respect to the rops 26 is provided. To add the explanation, as shown in FIG. 4, the positioning unit 31 is attached to the lops 26 via a mounting bracket 34. The positioning unit 31 is mounted by fastening the four bolts 37 that project downward and insert the insertion holes 36 formed in the mounting bracket 34 and the nuts 38 that are mounted on the bolts 37 from the lower side of the mounting bracket 34. It is connected and fixed to the bracket 34. The insertion holes 36 through which the bolts 37 are inserted are formed into elongated holes that are long in the lateral direction. The positioning unit 31 can be laterally changed to an arbitrary position within the range of the elongated hole and fixed by fastening the bolt 37 and the nut 38.
[0033]
　As described above, since the antenna unit 32 is provided at a position away from the traveling vehicle body 4 on the upper side, the position and orientation of the traveling vehicle body 4 measured using GPS can be determined by yawing, pitching, or pitching of the traveling vehicle body 4. , The positioning error caused by the positional deviation of the antenna unit 32 due to rolling is included. That is, it is an error caused by a positional deviation between the position measured by the positioning unit 31 and the working position by the working device.
[0034]
　Therefore, the traveling vehicle body 4 has a triaxial gyroscope (not shown) and a three-direction acceleration sensor (not shown) in order to enable the correction for removing the positioning error as described above. An inertial measurement unit (IMU: Inertial Measurement Unit) 39 for measuring the yaw angle, pitch angle, roll angle, etc. of the traveling vehicle body 4 is provided. The information on the position and orientation of the traveling vehicle body 4 measured by the positioning unit 31 is corrected by the information on the position deviation of the antenna unit 32 due to yawing, pitching, or rolling of the traveling vehicle body 4 measured by the inertial measurement unit 39. It has become like.
[0035]
　As shown in FIG. 2, the inertial measurement unit 39 is arranged at a position overlapping the mission case 10 in a plan view. In addition, the inertial measurement device 39 is provided below the driver's seat 19 above the drive shaft center of the rear axle 9 and above the mission case 10 in the cylinder case 15. It is located on the upper side of. Further, the inertial measurement unit 39 is arranged at a position overlapping the rear wheel 3 in a side view. This portion has high rigidity and is unlikely to be bent and deformed, and is further separated from the engine 6, so that it is not easily affected by the vibration of the engine 6 and can be measured with little error. ..
[0036]
　As shown in FIG. 1, the controller 30 is provided in a state of being housed inside the control panel unit 23. Then, the controller 30 operates the steering motor so that the traveling vehicle body 4 travels along the working traveling route based on the preset traveling route information in the field and the positioning result of the positioning unit 31. It is configured to execute automatic steering control for controlling the above.
[0037]
　A wiring 40 for connecting the positioning unit 31 including the antenna unit 32 and the controller 30 is provided. To add an explanation, the wiring 40 is arranged along the vertical frame portion 26a. Specifically, the wiring 40 is routed so as to pass through the inside of a movable portion above the swing fulcrum X of the vertical frame portion 26a of the rope 26 made of a hollow square pipe material.
　That is, as shown in FIG. 6, the wiring 40 from the positioning unit 31 is guided to the inside of the horizontal frame portion 26b through the insertion hole 50 formed in the horizontal frame portion 26b, and the horizontal frame portion 26b and the vertical frame portion 26a. It passes through the inside of the vertical frame portion 26a, passes through an insertion hole 51 formed above the swing fulcrum X, and extends to an inertial measurement unit 39 located above the transmission case 10. Then, the wiring 40 extends to the controller 30 provided in the control panel unit 23 through the lower side of the rear wheel fender 24 via the inertial measurement unit 39.
[0038]
[Separate Embodiment]
(1) In the above embodiment, the antenna unit 32 (positioning unit 31) is attached to the horizontal frame portion 26b of the rops 26, but instead of this configuration, FIGS. The antenna unit 32 may be attached to the vertical frame portion 26 a of the rope 26 as indicated by phantom lines at 9, 10, and 12.
(2) In the above embodiment, the vertical frame portion 26a of the rops 26 has a shape that extends straight in the vertical direction, but instead of this configuration, as shown in FIGS. 7, 8 and 9, the vertical frame portion of the rops 26 The upper portion of 26a may be provided in a shape that bends toward the front portion of the machine body.
(3) In the above embodiment, the lops 26 is configured to provide the swing fulcrum X at the lower end, but instead of this configuration, as shown in FIGS. 10, 11 and 12, the lops 26 is located at the upper and lower intermediate positions of the lops 26. It may be configured to have a swing fulcrum X for bending and to provide an antenna unit 32 on a horizontal frame portion 26b of the rops 26.
(4) In the above embodiment, the antenna unit 32 is attached to the rope 26 provided at the rear of the traveling vehicle body 4. However, instead of this configuration, the following (4-1) to (4-6) The configuration described in may be used.
[0039]
　(4-1) As
　shown in FIGS. 13, 14, 15, and 16, the antenna unit 32 may be attached to the front guard 41 provided on the traveling vehicle body 4 to protect the front end portion. 15 and 16 show a configuration in which the front loader 43 is connected by support arms 42 passing through the left and right sides of the front guard 41.
[0040]
　(4-2) As
　shown in FIGS. 17 and 18, the antenna unit 32 may be attached to the canopy 44 that covers the upper part of the driving unit 7. As shown in FIG. 18, when the antenna unit 32 is attached to the front end of the canopy 44 that extends in a cantilever shape toward the front of the machine body, the support stay 46 is improved by extending the auxiliary stay 46 from the column 45 of the canopy 44. It is better to let them do it.
[0041]
　(4-3) As
　shown in FIGS. 19 and 20, the antenna unit 32 may be attached to the rope 26 provided at a position in front of the operating unit 7 and on the rear side of the hood 5.
　(4-4) As
　shown in FIG. The antenna unit 32 may be attached to the support member 47. The vertically extending portion 47a of the support member 47 may have a linearly extending shape or an L-shaped bending shape.
[0042]
　(4-5) As
　shown in FIGS. 24 to 29, a stay 48 extending from a fall prevention lops 26 provided at the rear of the driving unit 7 is provided, and the antenna unit 32 is attached to the stay 48. May be good. For example, as shown in FIGS. 24 and 25, a stay 48 extending toward the rear side of the machine body or the front side of the machine body is provided with respect to the rope 26 that extends straight in the vertical direction, and the antenna unit 32 is provided on the stay 48. It may be configured to be attached. Further, as shown in FIG. 26, an upper side portion of the lops 26 is provided in a shape bent to the front side of the machine body, and a stay 48 extending from the bending portion of the lops 26 to the upper rear portion is provided. The antenna unit 32 may be attached to the antenna unit 32. Further, as shown in FIGS. 27, 28, and 29, a state in which the rops 26 extending straight in the vertical direction or the rops 26 having a shape bent toward the front portion of the machine body extends over the left and right vertical frame portions 26a. In addition, the stay 48 may be provided so as to overlap with the vertical frame portion 26a in a side view, and the antenna unit 32 may be attached to the stay 48.
　(4-6) As
　shown by a virtual line in FIG. 1, the antenna unit 32 may be attached to the upper part of the bonnet 5.
[0043]
(5) In the above-described embodiment, the wiring 40 is configured to pass through the inside of the vertical frame portion 26a of the lops 26, extend outward from the middle of the vertical frame portion 26a, and extend toward the controller 30. Alternatively, the configuration described in the following (5-1) to (5-5) may be used.
　(5-1) The
　wiring 40 extends through the inside of the vertical frame portion 26a in a state of passing through the opening at the lower end of the vertical frame portion 26a, and then passes through the inside of the rear wheel fender 24 and extends toward the controller 30. May be good.
　(5-2) The
　wiring 40 may be arranged so as to pass through the inner surface of the outer peripheral surface of the vertical frame portion 26a on the inner side in the machine width direction.
[0044]
　(5-3) The
　wiring 40 may be arranged so as to pass through the outer surface of the outer peripheral surface of the vertical frame portion 26a in the machine width direction.
　(5-4) The
　wiring 40 may be arranged so as to pass through the rear surface of the outer peripheral surface of the vertical frame portion 26a in the longitudinal direction of the machine body.
　(5-5) When the
　wiring 40 is routed on the outer peripheral surface of the vertical frame portion 26a, the periphery of the wiring 40 is covered with a decorative cover (not shown) so that the wiring 40 is not exposed to the outside. Good. It is preferable that the decorative cover is attached to the movable portion of the Lops 26 above the swing fulcrum X.
[0045]
(6) In the above embodiment, the positioning unit 31 (antenna unit 32) and the traveling control controller 30 are connected via the wiring 40, but instead of this configuration, the positioning unit 31 (antenna unit) 32) and the controller 30 for travel control may be configured to be able to transmit information to each other by a wireless communication method via a communication device (not shown).
(7) In the above embodiment, the inertial measurement unit 39 is arranged at a position overlapping with the mission case 10 in a plan view, but instead of this configuration, the following (7-1) to ( The configuration described in 7-6) may be used.
[0046]
　(7-1) The
　inertial measurement unit 39 may be arranged on the lateral side of the vehicle body frame 1. In that case, the vehicle body frame 1 may be directly supported, but the vehicle body frame 1 may be supported via a bracket (not shown).
　(7-2) The
　inertial measurement unit 39 may be arranged on the lower surface of the vehicle body frame 1. In that case, it may be arranged in a region surrounded by the left and right rear wheel fenders 24 in a front view. Then, it may be directly supported by the vehicle body frame 1, but it may be supported by the vehicle body frame 1 via a bracket (not shown).
[0047]
　(7-3) As the
　vehicle body frame 1, a pair of main frames (not shown) extending in the front-rear direction of the vehicle body are provided on both left and right sides of the vehicle body, and the engine 6 and the mission case 10 are supported by the left and right main frames. Such a frame structure may be provided, and the inertial measurement unit 39 may be provided in a region surrounded by the left and right main frames in a front view. In that case, it may be directly supported by the main frame, but it may be supported by the main frame via a bracket.
[0048]
　(7-4) The
　inertial measurement device 39 may be arranged in a state of being positioned above the front axle 49 in a side view. In that case, they may be arranged so as to overlap with the front wheel 2 in a side view, or may be arranged so as not to overlap.
　(7-5) The
　inertial measurement unit 39 may be arranged in a state where it overlaps with the bonnet 5 in a plan view and is located below the bonnet 5. In this case, the front axle 49, the vehicle body frame 1, and the like may be provided at overlapping positions in a plan view.
　(7-6) The
　inertial measurement unit 39 may be provided in the rops 26. In this case, it may be provided at a position near the antenna unit 32, or may be provided in a state of being housed in the positioning unit 31, or may be provided at a position away from the antenna unit 32.
[0049]
(8) In the above embodiment, the adjustment mechanism 35 for adjusting the position of the positioning unit 31 with respect to the lops 26 is configured such that the bracket 34 has the insertion hole 36 (long hole) through which the bolt 37 is inserted. Instead of the configuration, a plurality of round insertion holes through which the bolts 37 are inserted are formed at intervals, and one of the plurality of insertion holes is selected and the bolts are inserted and fastened to adjust the position. It may be configured.
(9) In the above embodiment, the controller 30 executes the automatic steering control by the steering motor. However, in addition to the control of the steering motor, the speed change motor for operating the transmission is controlled to automatically control the vehicle speed. It may be configured.
(10) In the above embodiment, the case where the invention is applied to a tractor having a lops is illustrated, but the present invention may be a tractor having no lops, a tractor with a cabin, or the like, and other work such as a rice transplanter other than the tractor. It can also be applied to cars.
[0050]
<2. Second Embodiment>
　Next, the second embodiment of the present invention will be described with reference to the drawings.
[Basic Structure of Tractor]
　FIGS. 30 to 33 show a tractor according to a second embodiment of the present invention. In this embodiment, the direction indicated by the symbol F in FIGS. 30 and 31 is the front side of the tractor, and the direction indicated by the symbol B is the rear side of the tractor. Further, the direction indicated by reference numeral R shown in FIG. 31 is on the right side of the tractor, and the direction indicated by reference numeral L is on the left side of the tractor.
[0051]
　As shown in FIG. 30, the tractor is provided with the entire vehicle body supported by the vehicle body frame 1, and is provided with left and right front wheels 2 that can be changed in direction and can be driven, and left and right rear wheels 3 that can be driven with fixed orientation. The vehicle body 4 is configured. An engine 6 is mounted inside a hood 5 at the front of the vehicle body, and a driver 7 is provided at the rear side of the vehicle body.
　As shown in FIGS. 30 and 31, the traveling vehicle body 4 has a rear part thereof to which a working device (not shown) such as a tilling device can be attached/detached and can be lifted and lowered in a state in which the working device is connected. Elevating link mechanism (link mechanism) 8 is provided. A transmission case 10 that transmits the power of the engine 6 from the rear axle 9 to the left and right rear wheels 3 is provided below the driving unit 7. The transmission case 10 is provided with a differential device 11 capable of giving a speed difference to the driving speed of the left and right rear axles 9, and the power from the engine 6 is transmitted via the differential device 11 to the left and right rear wheels 3. It is distributed to and transmitted. The mission case 10 rotatably supports the rear axle 9.
[0052]
　In this embodiment, the engine 6 located at the front of the vehicle body, the clutch housing 12 connected to the rear of the engine 6, the intermediate frame 13, the mission case 10 located at the rear of the vehicle body, and the like are integrally connected to the vehicle body with high rigidity. A frame 1 is formed.
　At the upper part of the mission case 10, a hydraulic lifting cylinder 14 that drives the working device up and down via the lifting link mechanism 8 is provided. The lift cylinder 14 is housed in a cylinder case 15. Inside the cylinder case 15, a swing arm 16 that swings by expanding and contracting the lift cylinder 14 is provided, and a lift arm 17 that swings integrally with the swing arm 16 and a lift link mechanism 8 , Is pivotally connected via a lift rod 18.
[0053]
　The driver 7 includes a driver's seat 19 on which a driver can sit, a boarding step 20 located on the front side of the driver's seat 19 to form the floor surface of the driver 7, and a front wheel steering wheel located in front of the driver's seat 19. A steering panel unit 23 including the steering wheel 21 and other control levers (operation tools) 22 is provided. Rear wheel fenders 24 that cover the upper parts of the left and right rear wheels 3 are provided on both the left and right sides of the driver's seat 19, and the rear wheel fenders 24 are also provided with a plurality of operating tools 25 for work. The driver's seat 19 may be configured to be capable of swinging forward in a form of lifting a rear portion around a fulcrum of a front portion of the seat. With this configuration, the driver's seat 19 can be swung to expose the mission case 10.
[0054]
　The left and right sides of the rear portion of the driving unit 7 are connected and fixed to the rear end portion of the vehicle body frame 1, that is, the rear end portion of the mission case 10, and extend upward so as to surround the rear upper side of the driving seat 19. A drop 26 is provided for fall protection. That is, the rops 26 has a pair of left and right vertical frame portions 26a extending along the vertical direction, and a horizontal frame portion 26b connecting the upper ends of the left and right vertical frame portions 26a and extending along the horizontal direction. It is formed in a roughly gate shape when viewed from the front of the vehicle. The LOPS 26 has a structure in which the left and right vertical frame portions 26a and the horizontal frame portions 26b are integrally formed by bending a hollow square pipe material so that the internal space is continuous, and is a substantially gate shape in a front view. .. That is, the lower end portion of the vertical frame portion 26a of the LOPS 26 may be fixed to a highly rigid member such as the transmission case 10, the vehicle body frame 1, and the axle case of the rear axle 9. When the lower end of the vertical frame portion 26a of the lops 26 is fixed to the mission case 10, the vertical frame portion 26a may be fixed at a plurality of locations in the vehicle body left-right direction and the vehicle body front-rear direction. The rops 26 can be firmly fixed.
[0055]
　The rops 26 is configured to be foldable around a lateral swing fulcrum X at a folding portion 27 provided below the left and right vertical frame portions 26a. With this configuration, the movable parts of the LOPS 26 (the left and right vertical frame portions 26a above the swing fulcrum and the horizontal frame portion 26b) are centered on the swing fulcrum X when the vehicle body is transported. By swinging the vehicle body rearward and folding the vehicle body, it is possible to reduce the amount of upward projection and prevent the transportation from being an obstacle. In the folded state, the horizontal frame portion 26b is lowered so that the operator can easily perform maintenance of the positioning unit 31.
[0056]
　The traveling vehicle body 4 has a controller 30 for traveling control, a steering motor (not shown) capable of steering the front wheels 2, and a well-known GPS (Global Positioning System) which is an example of GNSS (Global Navigation Satellite System). ) (Global Positioning System) is provided to provide a positioning unit 31 and the like for measuring the position and orientation of the traveling vehicle body 4.
　The positioning unit 31 is an antenna unit 32 for satellite navigation that receives radio waves transmitted from GPS satellites (not shown) and data transmitted from a reference station (not shown) installed at a known position, and an antenna unit 32 for satellite navigation. It is provided with a satellite navigation device 33 that measures the position and orientation of the traveling vehicle body 4 based on the positioning data of the positioning unit 31. As a positioning method using GPS, in the present embodiment, the position of the vehicle body is measured using GPS positioning data and error correction information transmitted from a reference station whose position is known on the ground side in advance. GPS (Differential GPS) is adopted. The reference station transmits the error correction information obtained by receiving the radio waves from the GPS satellites by wireless communication. The satellite navigation device 33 determines the position and orientation of the traveling vehicle body 4 based on the positioning data obtained by receiving the radio waves from the GPS satellites and the information from the reference station. Further, as a positioning method using GPS, another positioning method such as RTK (Real Time Kinematic) method may be used.
[0057]
　The positioning unit 31 including the antenna unit 32 is provided on the horizontal frame portion 26b at the top (highest position) of the rops 26 so that the reception sensitivity of the radio waves from the GPS satellites is high. The positioning unit 31 is attached via a mounting bracket 34 as a support member in the vicinity of the central portion in the lateral direction of the horizontal frame portion 26b. That is, the antenna unit 32 is provided at a position higher than the upper end of the driver's seat 19 and above the swing fulcrum X of the lops 26.
[0058]
　As described above, since the antenna unit 32 is provided at a position distant from the traveling vehicle body 4 to the upper side, the yawing, pitching, or , A positioning error due to a misalignment of the antenna unit 32 due to rolling is included.
　Therefore, the traveling vehicle body 4 is provided with a triaxial gyroscope (not shown) and a three-direction acceleration sensor (not shown) in order to enable the correction for removing the positioning error as described above. An inertial measurement unit (IMU: Inertial Measurement Unit) 39 for measuring the yaw angle, pitch angle, roll angle, etc. of the traveling vehicle body 4 is provided. By providing the inertial measurement unit 39, the position and orientation information of the traveling vehicle body 4 measured by the positioning unit 31 is an antenna associated with yawing, pitching, or rolling of the traveling vehicle body 4 measured by the inertial measurement unit 39. It is corrected by the information of the positional deviation of the unit 32.
[0059]
　As shown in FIG. 31, the inertial measurement device 39 is arranged at a position overlapping the mission case 10 in plan view. In addition, the inertial measurement device 39 is located below the driver seat 19 and above the drive axis of the rear axle 9, and above the cylinder case 15 provided above the mission case 10. Is located in. Further, the inertial measurement unit 39 is arranged at a position overlapping the rear wheel 3 in a side view. This portion has high rigidity and is unlikely to be bent and deformed, and is further separated from the engine 6, so that it is not easily affected by the vibration of the engine 6 and can be measured with little error. .. Further, in this tractor, since the mission case 10 can be exposed by swinging the driver's seat 19 forward, the swing of the driver's seat 19 facilitates access to the inertial measurement unit 39, and maintenance in good condition can be performed. It will be possible.
[0060]
　In this tractor, as a specific example of a position adjacent to the vehicle body frame 1 configured as a rigid member by connecting the engine 6, the clutch housing 12, and the mission case 10, the cylinder case 15 on the upper side of the mission case 10 is provided. An inertial measuring device 39 is provided on the upper side. Further, the inertial measurement device 39 is arranged at an intermediate position between the left and right rear wheel fenders 24 in a front view.
[0061]
　As shown in FIG. 30, the controller 30 is provided in a state of being housed inside the control panel unit 23. Then, the controller 30 operates the steering motor so that the traveling vehicle body 4 travels along the working traveling route based on the preset traveling route information in the field and the positioning result of the positioning unit 31. It is configured to execute automatic steering control for controlling the above.
[0062]
[Positioning of Positioning Unit] As
　shown in FIGS. 34 and 35, the mounting bracket 34 as a support member for supporting the positioning unit 31 has a front mounting portion 34a at a high position in a side view and a rear mounting portion. The position of 34b is low, and a vertical wall portion 34c is integrally formed between them to form a stepped molded product. A mounting surface 34s is formed on the upper surface of the mounting portion 34b, and reinforcing frames 34d (see FIGS. 31 and 33) are erected at both left and right ends of the mounting surface 34s.
[0063]
　A plurality of bolt insertion holes are formed in the mounting portion 34a of the mounting bracket 34, and similarly, bolt insertion holes are formed in the mounting portion 34b. A bolt insertion hole for inserting the fixing bolt 135 corresponding to the insertion hole of the mounting portion 34a is formed vertically through the horizontal frame portion 26b, and the fixing bolt 135 is screwed onto the lower surface of the horizontal frame portion 26b. A fixing plate 136 having a nut portion 135a is arranged.
[0064]
　With this configuration, the mounting portion 34a of the mounting bracket 34 is brought into contact with the upper surface of the horizontal frame portion 26b, and the vertical wall portion 34c of the mounting bracket 34 is brought into contact with the rear surface of the horizontal frame portion 26b, so that a plurality of mounting portions 34a are attached. The mounting bracket 34 is fixed to the horizontal frame portion 26b by inserting the fixing bolt 135 to be inserted into the bolt insertion hole into the insertion hole of the horizontal frame portion 26b and further screwing it into the nut portion 135a of the fixing plate 136.
[0065]
　Further, the positioning unit 31 is arranged so that the positioning unit 31 is mounted on the mounting portion 34b of the mounting bracket 34, and the connecting bolt 137 is inserted from the lower side to the upper side in the insertion hole of the mounting portion 34b to support the mounting state. To be done. In the state of being supported in this way, the positioning unit 31 is arranged at a position sandwiched by the left and right reinforcing frames 34d while being placed on the placing surface 34s.
　As a result, the mounting bracket 34 (an example of the support member) is located at the center of the horizontal frame portion 26b in the left-right direction in the front view and at a position where the rear end projects rearward from the rear end of the horizontal frame portion 26b in the plan view. Will be placed.
[0066]
　In this configuration, the positioning unit 31 is arranged at a position that partially overlaps the horizontal frame portion 26b in a front view, and the upper end of the positioning unit 31 has a positional relationship in which it projects upward from the upper surface of the horizontal frame portion 26b. With this configuration, when working in an environment in which a branch of a tree or the like can come into contact with the positioning unit 31, the mounting bracket 34 or the lops 26 solves the problem that the branch or the like comes into contact with the positioning unit 31.
[0067]
　The wiring 40 that connects the positioning unit 31 including the antenna unit 32 and the controller 30 is arranged along the vertical frame portion 26a. Specifically, as shown in FIG. 34, a position for taking out the wiring 40 is set on the side surface of the positioning unit 31 (hereinafter, this position is referred to as a wiring take-out position), and the position outside the wiring take-out position is waterproof. The cover 141 is arranged, and the pull-out posture of the wiring 40 is set to an oblique posture so that the wiring 40 pulled out from the waterproof cover 141 reaches a position higher than the wiring extraction position.
[0068]
　Further, in the pulled out wiring 40, an intermediate position between the waterproof cover 141 and the horizontal frame portion 26b is supported by a clamp 142 provided on the outer surface of the reinforcing frame 34d. Then, as shown in FIG. 36, the wiring 40 is inserted into the internal space of the horizontal frame portion 26b from the first through hole H1 on the lower surface of the horizontal frame portion 26b, and the folded portion 27 is inserted below the one vertical frame portion 26a. The wiring is arranged so as to be pulled out from the second through hole H2 on the inner surface side (opposite surface side of the left and right vertical frame portions 26a) of the vertical frame portion 26a at the upper part (above the swing fulcrum X).
[0069]
　In this way, since the wiring 40 from the waterproof cover 141 is pulled out diagonally upward, even if rainwater adheres to the wiring 40, the adhered rainwater flows in a fixed direction from the highest position of the wiring 40, and the wiring is early. It is also possible to drop it. The clamp 142 may be provided in the horizontal frame portion 26b.
　The wiring 40 extends to the inertial measurement device 39 located on the upper side of the mission case 10 and joins with the wiring from the inertial measurement device 39. Further, the merged wiring 40 passes between the rear wheel fender 24 and the driver's seat 19, and further extends between the boarding step 20 and the floor mat to the controller 30 provided in the control panel unit 23. ing.
[0070]
　As shown in FIGS. 30 and 31, in a side view, the positioning unit 31 is provided in the first area A1 between the rear end of the driver's seat 19 and the rear ends of the left and right lifting link mechanisms 8 and is flat. It is provided in the second region A2 which is visually between the left and right elevating link mechanisms 8.
[0071]
[
　Other embodiment a] The present invention may be configured as the following other embodiments besides the above-described embodiments. In each of the other embodiments described below, those having the same functions as those in the embodiment are designated by the same numbers and symbols as those in the embodiments.
(A-1) As shown in FIG. 37, a positioning unit 31 including at least one of an antenna unit 32 and a satellite navigation device 33 is provided on the lateral frame portion 26b by a mounting bracket 34, and an inertial measurement unit 39 is provided on the rops 26. The horizontal frame portion 26b of the above is provided. The figure shows a configuration in which the inertial measurement unit 39 is provided on the upper surface of the horizontal frame portion 26b.
[0072]
　In this other embodiment (a-1), it may be considered that the inertial measurement device 39 and the positioning unit 31 are arranged in a vertical positional relationship. As a specific example, as shown by the chain double-dashed line in FIG. 37, the inertial measurement device 39 can be provided on the lower surface of the horizontal frame portion 26b. By providing the lower surface of the horizontal frame portion 26b in this way, it is possible to suppress the influence of the sway of the traveling vehicle body 4 on the inertial measurement device 39.
(A-2) As shown in FIG. 37, the wiring 40 connecting the positioning unit 31 including the antenna unit 32 and the controller 30 is arranged along the outer surface of the vertical frame portion 26a, and the wiring arranged in this way. A decorative cover 143 is provided on the vertical frame portion 26a so as to cover the vertical frame portion 26a.
[0073]
　37 and 38 show a configuration in which the decorative cover 143 is provided on the outer surface of the vertical frame portion 26a above the folded portion 27 and below the folded portion 27. In addition, below the folding part 27, the wiring 40 may be held in a form of being clamped to a portion of the folding part 27 supported by the traveling vehicle body 4. As a result, it is not necessary to form a through-hole unlike the configuration of wiring in the internal space of the vertical frame portion 26a, and it is possible to suppress a decrease in strength of the lops 26. Furthermore, not only is the decorative cover 143 provided to cover and protect almost all of the wiring 40 arranged on the vehicle body outer side of the vertical frame portion 26a, but it is also possible to suppress sagging of the wiring 40 and disturbance of the posture.
[0074]
　In this other embodiment (a-2), as shown by the alternate long and short dash line in FIGS. 37 and 38, the target of the line may be any of the left and right vertical frame portions 26a, and among the vertical frame portions 26a, the traveling vehicle body 4 It may be any of an outer surface that is on the outside with reference to the above, an inner surface that is on the inside with reference to the traveling vehicle body 4, and the front and rear surfaces of the vertical frame portion 26a. Correspondingly, it is possible to provide a decorative cover 143.
(A-3) The mounting bracket 34 as the support member can be configured as shown in any of FIGS. 39, 40, and 41. That is, in the configuration shown in FIG. 39, the mounting portion 34a of the mounting bracket 34 is configured by the front wall 34af, the upper wall 34at, and the rear wall 34ar so as to be held from above the horizontal frame portion 26b. In this structure, the fixing bolt 135 penetrates the front wall 34af, the horizontal frame portion 26b, and the rear wall 34ar in the front-rear direction, and is screwed into the nut portion 135a of the rear wall 34ar so that the mounting bracket 34 is attached to the horizontal frame portion 26b. Fixed to.
[0075]
　Further, in the configuration shown in FIG. 40, as the mounting portion 34a of the mounting bracket 34, the upper surface of the front end of the mounting bracket 34 is brought into contact with the lower surface of the horizontal frame portion 26b, and the fixing plate 136 is arranged on the upper surface of the horizontal frame portion 26b. The fixing bolt 135 penetrates the fixing plate 136, the horizontal frame portion 26b, and the mounting portion 34a in the vertical direction, and is screwed into the nut portion 135a on the lower surface of the mounting portion 34a so that the mounting bracket 34 becomes the horizontal frame portion 26b. Is fixed to.

The scope of the claims
[Claim 1]
　An inertial measurement device that measures inertial information of the vehicle body,
　a rear axle that supports rear wheels for traveling, and
　a mission case that rotatably supports the rear axle are provided, and the
　inertial measurement device is viewed in plan view. A work vehicle that is placed at a location that overlaps with the mission case.
[Claim 2]
　The work vehicle according to claim 1, wherein the inertial measurement unit is arranged above the drive axis of the rear axle.
[Claim 3]
　The work vehicle according to 　claim 1 or 2 , further
　comprising: an elevating cylinder that elevates and lowers the work device; and a cylinder case that accommodates the elevating cylinder,
wherein the inertial measurement device is disposed above the cylinder case.
[Claim 4]

　Any one of claims 1 to 3 　, wherein a differential device capable of giving a speed difference to the drive speeds of the left and right rear axles is provided, and the inertial measurement unit is arranged above the differential device. The work vehicle described in the section.
[Claim 5]
　The work vehicle according to any one of claims 1 to 4, wherein the inertial measurement device is arranged at a position overlapping the rear axle in a plan view.
[Claim 6]

　The work vehicle according to any one of claims 1 to 3, which 　is provided with a driver's seat in which a driver can be seated, and the inertial measurement unit is arranged below the driver's seat.
[Claim 7]
　The work vehicle according to any one of claims 1 to 6, wherein the inertial measurement unit is arranged at a position overlapping the rear wheels in a side view.
[Claim 8]
　Any one of claims 1 to 7, further comprising 　a fall protection lops arranged in the vicinity of the mission case and
　an antenna unit for receiving satellite positioning information,
wherein the antenna unit is supported by the lops. The work vehicle according to item 1.
[Claim 9]
　An inertial measurement device that measures inertial information of the vehicle body, and
　left and right rear wheels for traveling are provided,
　and a position adjacent to a rigid case member formed of a vehicle body transmission case or a vehicle body frame that transmits a driving force to the rear wheels. A tractor provided with the inertial measuring device.
[Claim 10]
　10. The rigid member is composed of a pair of left and right body frames arranged on the left and right of the mission case, and the inertial measurement device is arranged in an intermediate region between the left and right body frames in plan view. The tractor described in.
[Claim 11]
　The tractor according to claim 9, wherein the inertial measurement device is fixed to a lower region of the rigid member via a fixing bracket.
[Claim 12]
　The invention according
　to any one of claims 9 to 11 , wherein fenders are provided at positions covering above the left and right rear wheels, and the inertial measurement unit is arranged at an intermediate position between the left and right fenders in a front view. Tractor.
[Claim 13]
　The tractor according to any one of claims 9 to 11, wherein the inertial measurement device is provided at a position overlapping the rear wheel in a side view.
[Claim 14]
　The tractor according to any one of claims 9 to 13, wherein the inertial measurement unit is fixed in a mud removal case.
[Claim 15]
　A traveling vehicle body capable of traveling by either manual steering by a steering wheel or automatic steering of the steering wheel based on a planned traveling line,
　a receiving device provided on the traveling vehicle body and receiving a positioning satellite signal, and the
　above. An inertial measurement unit that measures the inertia of a traveling vehicle body,
　an automatic steering mechanism that automatically steers the steering handle based on a signal received by the receiving device and an inertia measured by the inertial measurement unit, and an
　inertial measurement unit. 　A work vehicle
　comprising: a vibration damping member that suppresses vibration; and a support member that supports the inertial measurement device on the traveling vehicle body via the vibration damping member
.
[Claim 16]
　The 　fifteenth aspect of claim 15 , further
　comprising a drive unit for driving the traveling vehicle body and a housing covering the drive unit
　,
wherein the support member supports the inertial measurement unit on the housing via the vibration isolator member. Work vehicle.
[Claim 17]
　A support plate attached to the housing is provided, and the
　support member is
　arranged below the support plate and to which the inertial measurement unit is attached, and a
　mounting portion rising from the mounting portion and via the vibration isolator. The work vehicle according to claim 16, further comprising a fixing portion fixed to the support plate.
[Claim 18]

　The work vehicle according to claim 17 　, further comprising a driver seat provided on the traveling vehicle body, wherein the support plate supports the driver seat from below.
[Claim 19]
　The fixing portion is fixed to the support plate by a bolt, and the
　vibration isolating member is interposed between the bolt and the fixing portion and between the fixing portion and the support plate. The work vehicle according to 17 or 18.
[Claim 20]

　The work vehicle according to any one of claims 17 to 19, 　wherein the housing is a mission case, and the support plate is attached to an upper portion of the mission case.
[Claim 21]

　The work vehicle according to any one of claims 17 to 20, 　wherein the support plate has an opening provided above the inertial measurement unit, and the inertial measurement unit is exposed from the opening. ..