JP7341873B2 - work equipment - Google Patents

Description

The present invention relates to a work machine having a vehicle body positioning device capable of positioning.

As shown in Patent Document 1, the RTK method is known as a technology that relatively easily achieves highly accurate positioning. The base stations used in this RTK method include a portable base station (portable base station) located near the field as shown in Patent Document 1, and a fixed base station (portable base station) located relatively far from the field. There are RTK-GNSS positioning using a fixed base station), VRS-GNSS positioning using VRS (Virtual Reference Station) positioning technology as shown in Patent Document 2, and the like.

Japanese Patent Application Publication No. 2018-105707 Japanese Patent Application Publication No. 2008-3042

In RTK-GNSS positioning, VRS-GNSS positioning, etc., accurate position correction can be performed on the mobile station side by transmitting correction information to the mobile station.
However, when switching the positioning method (mode) between RTK-GNSS positioning using a portable base station, RTK-GNSS positioning using a fixed base station, and VRS-GNSS positioning, the positioning environment including the reference position changes. However, if a map created in the pre-switch mode is used in the post-switch mode, there is a risk that a positional shift will occur.

SUMMARY OF THE INVENTION In view of the above-mentioned problems, it is an object of the present invention to use a map created in a mode before switching in a mode after switching while suppressing positional deviation.

A work machine according to one aspect of the present invention includes a vehicle body, a reference acquisition unit that acquires a reference position of a base station, and a first mode and a second mode that correspond to the base station and have different positioning methods for determining the position of the vehicle body. A vehicle body positioning device that positions the vehicle body position based on a satellite signal from a positioning satellite and a reference position acquired by a reference acquisition unit; and a vehicle body positioning device that positions the vehicle body position based on the vehicle body position determined in the first mode by the vehicle body positioning device. and a map creation unit capable of creating a first field map, and the map creation unit is configured to select a predetermined first position of the vehicle body positions determined by the vehicle body positioning device in the first mode, and a map creation unit capable of creating a first field map. With the vehicle body stopped at the position where the first position was determined, the position of the first field is determined based on the deviation from the second position, which is the position of the vehicle body determined by the vehicle body positioning device in the second mode, and the first field map. A second field map that is different from the map and corresponds to the second mode is created.

The map creation unit also creates a second field map by shifting the deviation with respect to the first field map.
In addition, the first mode is a portable station mode in which the position of the vehicle body is determined using the installation position of a field positioning device that is a base station and is installed in a field as a reference position, and the second mode is a mobile station mode that determines the position of the vehicle body using the installation position of a field positioning device that is a base station and is installed in a field. This is a VRS mode in which the position of the vehicle body is calculated using a virtual reference point determined based on the absolute position determined by the station as the reference position .

In addition, the first mode is a portable station mode in which the position of the vehicle body is determined using the installation position of a field positioning device that is a base station and is installed in a field as a reference position, and the second mode is a mobile station mode that determines the position of the vehicle body using the installation position of a field positioning device that is a base station and is installed in a field. This is a fixed station mode in which the position of the vehicle body is calculated using the absolute position of the station as the reference position .
Further, the first mode is a VRS mode in which the position of the vehicle body is calculated using a virtual reference point determined based on the absolute position determined by a fixed base station as a base station, and the second mode is a This is a portable station mode in which the position of the vehicle body is determined using the installation position of the field positioning device installed in the field as a reference position .

Further, the first mode is a VRS mode in which the position of the vehicle body is calculated using a virtual reference point determined based on the absolute position determined by a fixed base station as a base station, and the second mode is a This is a fixed station mode in which the position of the vehicle body is calculated using the absolute position of the fixed base station as the reference position .
In addition, the first mode is a fixed station mode in which the position of the vehicle is calculated using the absolute position of a fixed base station as a base station as a reference position , and the second mode is a field positioning mode that is a base station and is installed in a field. This is a portable station mode in which the position of the vehicle body is determined using the installation position of the device as a reference position .

In addition, the first mode is a fixed station mode in which the position of the vehicle body is calculated using the absolute position of the fixed base station as the base station as a reference position , and the second mode is the absolute position determined for the fixed base station as the base station. This is a VRS mode in which the position of the vehicle body is calculated using a virtual reference point determined based on the position as the reference position .
The farm also includes a display device that switches between displaying the first field map and the second field map.

The display device also includes a route creation section that creates a planned travel route on at least one of the first field map and the second field map.

According to the working machine described above, a map created in the pre-transition mode can be used in the post-transition mode while suppressing positional deviation.

FIG. 2 is a diagram showing a situation in which a working machine is automatically traveling. It is a figure showing a block diagram of a work machine. It is a figure showing a lifting device. It is a diagram explaining automatic driving. FIG. 3 is a diagram showing the state of working machines and the like when creating a first field map. It is a figure which shows an example of a 1st map creation screen. It is a figure which calculates the outline of a field from a driving trajectory. It is a figure which calculates the contour of a field from the inflection point of a traveling trajectory. It is a figure showing a series of flows of mode switching of a vehicle body positioning device. It is a figure explaining creation of a 2nd field map. It is a figure which shows an example of a 2nd map creation screen. It is a diagram showing a planned driving route created on a field map. It is a figure which shows an example of a route setting screen. It is a diagram in which unit work sections are created in the work area. FIG. 13A is a diagram showing a unit work section different from FIG. 13A. FIG. 2 is an overall side view of the tractor.

Embodiments of the present invention will be described below based on the drawings.
FIG. 1 shows a situation in which the working machine 1 is automatically traveling along a scheduled travel route L. When the working machine 1 is automatically running, the working machine 1 is automatically running while detecting the position, direction, etc. of the working machine 1 using satellite navigation, especially the RTK method that enables highly accurate positioning. In the RTK method, a satellite signal from a positioning satellite G is received by a base station 100 and a mobile station (vehicle body positioning device 42 attached to the working machine 1, which will be described below).

The base station 100 receives the satellite signal of the positioning satellite G, and transmits correction information including the distance between satellite receivers, etc. determined from the satellite signal, the reference position X, etc. to the mobile station (vehicle positioning device) 42 by wireless communication. do. The mobile station 42 corrects the information received from the positioning satellite G based on the correction information obtained from the base station 100 to obtain position information with higher accuracy.
To explain the working machine 1, the working machine 1 is, for example, an agricultural machine such as a tractor, a combine harvester, or a rice transplanter. The description will proceed assuming that the working machine 1 is a tractor. Hereinafter, the front side of the driver seated in the driver's seat 10 of the tractor 1 will be described as the front, the rear side of the driver as the rear, the left side of the driver as the left, and the right side of the driver as the right.

As shown in FIG. 14, the tractor 1 includes a vehicle body 3 having a traveling device 7, a prime mover 4, and a transmission 5. The traveling device 7 is a device having front wheels 7F and rear wheels 7R. The front wheel 7F may be a tire type or a crawler type. Further, the rear wheel 7R may also be a tire type or a crawler type. The prime mover 4 is a diesel engine, an electric motor, or the like. The transmission device 5 can change the propulsion force of the traveling device 7 by changing the speed, and can also change the traveling device 7 between forward movement and backward movement. A cabin 9 is provided in the vehicle body 3, and a driver's seat 10 is provided within the cabin 9.

Further, as shown in FIG. 14, a lifting device 8 configured with a three-point link mechanism or the like is provided at the rear of the vehicle body 3. The working device 2 can be attached to and detached from the lifting device 8 . By connecting the working device 2 to the lifting device 8, the vehicle body 3 can tow the working device 2. The work equipment 2 includes a plowing device for plowing, a fertilizer spreading device for spreading fertilizer, a pesticide spraying device for spraying pesticides, a harvesting device for harvesting, a reaping device for cutting grass, etc., a spreading device for spreading grass, etc. These include a grass collecting device that collects grass, etc., and a forming device that shapes grass, etc.

As shown in FIG. 2, the tractor 1 includes a steering device 11. The steering device 11 includes a handle (steering wheel) 11a, a rotating shaft (steering shaft) 11b that rotates as the handle 11a rotates, and an auxiliary mechanism (power steering mechanism) 11c that assists in steering the handle 11a. are doing. The auxiliary mechanism 11c includes a hydraulic pump 21, a control valve 22 to which hydraulic oil discharged from the hydraulic pump 21 is supplied, and a steering cylinder 23 operated by the control valve 22. The control valve 22 is a solenoid valve that operates based on a control signal. The control valve 22 is, for example, a three-position switching valve that can be switched by moving a spool or the like. Further, the control valve 22 can also be switched by steering the steering shaft 11b. The steering cylinder 23 is connected to an arm (knuckle arm) 24 that changes the direction of the front wheel 7F.

Therefore, when the handle 11a is operated, the switching position and opening degree of the control valve 22 are switched according to the handle 11a, and the steering cylinder 23 expands and contracts to the left or right according to the switching position and opening degree of the control valve 22. By doing so, the steering direction of the front wheels 7F can be changed. Note that the above-described steering device 11 is only an example, and is not limited to the above-described configuration.
As shown in FIG. 3, the lifting device 8 includes a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d, and a lift cylinder 8e. The front end of the lift arm 8a is supported by the rear upper part of a case (mission case) that houses the transmission 5 so as to be able to swing upward or downward. The lift arm 8a swings (raises and lowers) by driving the lift cylinder 8e. The lift cylinder 8e is composed of a hydraulic cylinder. Lift cylinder 8e is connected to hydraulic pump 21 via a control valve. The control valve is a solenoid valve or the like, and expands and contracts the lift cylinder 8e.

The front end of the lower link 8b is supported by the rear lower part of the transmission 5 so as to be able to swing upward or downward. The front end of the top link 8c is supported above the lower link 8b by the rear part of the transmission 5 so as to be able to swing upward or downward. The lift rod 8d connects the lift arm 8a and the lower link 8b. The working device 2 is connected to the rear part of the lower link 8b and the rear part of the top link 8c. When the lift cylinder 8e is driven (expands and contracts), the lift arm 8a moves up and down, and the lower link 8b connected to the lift arm 8a via the lift rod 8d moves up and down. As a result, the working device 2 swings upward or downward (elevates and descends) using the front portion of the lower link 8b as a fulcrum.

As shown in FIG. 2, the tractor 1 includes a display device 30. The display device 30 is a device that includes a display section 31 configured with a liquid crystal panel, a touch panel, or another panel, and a storage device 32 that stores information and the like to be displayed on the display section 31. The display device 30 can display various information regarding the tractor 1 in addition to information for supporting the traveling of the tractor 1. Further, the display device 30 is connected to equipment included in the tractor 1 so as to be communicable by wire or wirelessly.

As shown in FIG. 2, the tractor 1 includes a vehicle body communication device 40, a reference acquisition section 41, and a vehicle body positioning device 42. The vehicle body communication device 40 is a device that transmits various data to the outside of the tractor 1 and imports external data into the tractor 1. The vehicle communication device 40 performs wireless communication with the base station 100 using, for example, Wi-Fi (Wireless Fidelity, registered trademark) of the IEEE 802.11 series communication standard, or a mobile phone communication network, a data communication network, or a mobile phone. This is a device that performs wireless communication with the outside via a communication network or the like. For example, the vehicle communication device 40 receives the installation position X1 of the base station 100 from the base station 100, position information, etc. from the outside.

The reference acquisition unit 41 is composed of an electric/electronic circuit, a program stored in a CPU, etc., and acquires the reference position X. Specifically, for example, the reference acquisition unit 41 acquires the installation position X1 received by the vehicle body communication device 40 as the reference position X, and acquires the reference position X based on the position information received by the vehicle body communication device 40.
The vehicle body positioning device 42 can detect its own position (positioning information including latitude and longitude) using a satellite positioning system (positioning satellite G) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, Michibiki, etc. That is, the vehicle body positioning device 42 receives a satellite signal (position of the positioning satellite G, transmission time, correction information, etc.) transmitted from the positioning satellite G, and determines the position of the tractor 1 (for example, latitude, longitude), that is, the vehicle body position. The vehicle body positioning device 42 includes a receiving device 43, an inertial measurement unit (IMU) 44, and a position calculation section 46. The receiving device 43 is a device that has an antenna and the like and receives satellite signals transmitted from the positioning satellite G, and is attached to the vehicle body 3 separately from the inertial measurement device 44. In this embodiment, the receiving device 43 is attached to the vehicle body 3, specifically the cabin 9. Note that the mounting location of the receiving device 43 is not limited to the embodiment.

The inertial measurement device 44 includes an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, and the like. The inertial measurement device 44 is provided below the vehicle body 3, for example, the driver's seat 10, and can detect the roll angle, pitch angle, yaw angle, etc. of the vehicle body 3.
The position calculation unit 46 calculates the position of the vehicle body 3 based on the reference position X acquired by the reference acquisition unit 41 and the satellite signal received by the reception device 43. The position calculation unit 46 is composed of an electric/electronic circuit, a program stored in a CPU, etc. Further, the position calculation unit 46 may be able to calculate the position of the vehicle body 3 by independent positioning.

As shown in FIG. 2, the tractor 1 includes a control device 50. The control device 50 is a device that controls the traveling system, the work system, etc. of the tractor 1. The control device 50 has an automatic travel control section 51 that controls automatic travel of the tractor 1. The automatic travel control unit 51 is composed of an electric/electronic circuit provided in the control device 50, a program stored in a CPU, etc. When the automatic travel control unit 51 starts automatic travel, the automatic travel control unit 51 controls the control valve 22 of the steering device 11 so that the vehicle body 3 travels along the planned travel route L. Further, when automatic travel is started, the automatic travel control unit 51 controls the vehicle speed (velocity) of the tractor 1 by automatically changing the gear position of the transmission 5, the rotation speed of the prime mover 4, etc.

As shown in FIG. 4, when the tractor 1 is automatically traveling and the deviation between the vehicle body position and the planned travel route L is less than a threshold, the automatic travel control unit 51 controls the steering axis (rotation axis). 11b is maintained. If the deviation between the vehicle body position and the planned travel route L is greater than or equal to the threshold and the tractor 1 is located on the left side with respect to the planned travel route L, the automatic travel control unit 51 controls the steering direction of the tractor 1 to be on the right. The steering shaft 11b is rotated so as to match the direction. If the deviation between the vehicle body position and the planned travel route L is greater than or equal to the threshold value and the tractor 1 is located on the right side of the planned travel route L, the automatic travel control unit 51 controls the steering direction of the tractor 1 to be set to the left. The steering shaft 11b is rotated so as to match the direction. In the embodiment described above, the steering angle of the steering device 11 was changed based on the deviation between the vehicle body position and the planned travel route L, but the steering angle of the steering device 11 was changed based on the deviation between the vehicle body position and the planned travel route L. (travel direction) is different from the azimuth (vehicle body orientation) F1, that is, when the angle θg of the vehicle body azimuth F1 with respect to the planned travel route L is greater than or equal to the threshold, the automatic travel control unit 51 determines that the angle θg is zero (vehicle body orientation). The steering angle may be set so that F1 coincides with the direction of the planned route L. Further, the automatic travel control unit 51 sets the final steering angle in automatic steering based on the steering angle determined based on the deviation (positional deviation) and the steering angle determined based on the azimuth (azimuth deviation). It's okay. The setting of the steering angle in automatic steering in the embodiment described above is an example, and is not limited.

As described above, the control device 50 allows the tractor 1 (vehicle body 3) to travel automatically.
Further, the control device 50 can perform manual elevation control, automatic elevation control, and the like. The manual lifting control is a control in which the working device 2 is raised and lowered by the lifting device 8 based on the operation of the lifting switch 52 connected to the control device 50. Specifically, the lift switch 52 is provided around the driver's seat 10 and is a three-position switch. When the lift switch 52 is switched from the neutral position to one side, a lift signal for raising the lift device 8 (lift arm 8a) is input to the control device 50. Furthermore, when the lift switch 52 is switched from the neutral position to the other position, a lowering signal for lowering the lift device 8 (lift arm 8a) is input to the control device 50. When the control device 50 obtains the ascending signal, it outputs a control signal to the control valve to raise the lifting device 8, and when it obtains the descending signal, it outputs a control signal to the control valve to lower the lifting device 8. In other words, the control device 50 can perform manual elevating control for elevating and lowering the elevating device 8 in response to manual operation of the elevating switch 52.

Furthermore, automatic raising control is a control in which the working device 2 is raised by automatically operating the lifting device 8 when the steering angle of the steering device 11 is equal to or greater than a predetermined value, for example, a steering angle corresponding to turning. . Specifically, the control device 50 is connected to a steering angle detection device 53 and a changeover switch 54 . The steering angle detection device 53 is a device that detects the steering angle of the steering device 11. The changeover switch 54 is a switch that enables/disables automatic lift control, and is a switch that can be switched ON/OFF. When the changeover switch 54 is ON, the automatic rise control is set to be valid, and when the changeover switch 54 is OFF, the automatic rise control is set to be invalid.

When the automatic lift control is effective and the steering angle detected by the steering angle detection device 53 is equal to or greater than the steering angle corresponding to turning, the control device 50 automatically controls the lifting device 8 by outputting a control signal to the control valve. Performs automatic lift control to raise the vehicle.
As described above, the control device 50 can perform control regarding the tractor 1, such as manual elevation control and automatic elevation control.

The work machine 1 includes a map creation section 33 that creates a map of the field H (hereinafter referred to as first field map MP1) based on the position of the vehicle body 3 calculated by the position calculation section 46. In the present embodiment, the map creation unit 33 is included in the display device 30, and the map creation unit 33 is composed of, for example, an electric/electronic circuit included in the display device 30, a program stored in a CPU, etc. There is. The map creation unit 33 acquires the position of the vehicle body 3 calculated by the position calculation unit 46, and creates a first field map MP1 based on the position of the vehicle body 3 (vehicle body position VP1).

When the operator (driver) performs a predetermined operation on the display device 30, the display unit 31 of the display device 30 displays the first map creation screen M1, as shown in FIG. The first map creation screen M1 displays a map including the field H, and field identification information such as the field name and field management number. In addition to image data indicating the field H, the map is associated with position information such as latitude and longitude.

As shown in FIG. 5, when the working machine 1 enters the field H and circles within the field H, the map creation section 33 acquires the vehicle body position VP1 calculated by the position calculation section 46. As shown in FIG. 6, the first map creation screen M1 displays a plurality of vehicle body positions VP1 when the working machine 1 goes around. Further, the reference acquisition unit 41 acquires the reference position X via the vehicle body communication device 40.
When the work machine 1 finishes circling the field H and the operator (driver) selects the registration button 70 displayed on the first map creation screen M1, the map creation unit 33 starts the work as shown in FIG. 7A. The running trajectory K obtained from the plurality of vehicle body positions VP1 when the machine 1 rotates is set as the contour (outside shape) of the field H, and the contour is registered as the first field map MP1 together with the field identification information.

Note that, as shown in FIG. 7B, the map creation unit 33 may calculate inflection points from the travel trajectory K indicated by the vehicle body position VP1 and register a contour connecting the inflection points as the first field map MP1. However, the method for creating the first field map MP1 is not limited to the above method.
The position information (latitude, longitude) of the first field map MP1 is expressed as a relative position between the vehicle body position VP1 calculated by the position calculation unit 46 and the reference position X, and is stored in the storage device 32 provided in the display device 30. be done.

The vehicle body positioning device 42 can switch the mode corresponding to the base station 100, the map creation unit 33 can create the first field map MP1 for each mode, and the storage device 32 can switch the mode corresponding to the base station 100. The first field map MP1 is stored in association with the mode in which it was created. If you use the first field map MP1 created in the mode before switching (first mode) as is in the mode after switching (second mode), the position measured in the first mode and the position measured in the second mode will be different. Even if they are located at the same position, there is a possibility that a deviation may occur depending on the positioning method, but as shown in FIG. 9, the map creation unit 33, based on the first field map MP1 created in the first mode, By creating (converting) the second field map MP2 corresponding to the second mode, it is possible to suppress deviations in the field map in the second mode.

First, to explain the base station 100, as shown in FIG. This is a fixed base station 100B such as an electronic reference station that is located relatively far away from the station and is not intended to be moved.
As shown in FIG. 2, each base station 100 includes a receiving section 101, a processing section 102, a storage section 103, and a base communication device 104. The receiving section 101, the processing section 102, the storage section 103, and the base communication device 104 are composed of electronic/electrical parts, programs, and the like.

The receiving unit 101 receives positioning signals such as the L1 signal, L2 signal, and L6 signal transmitted from the positioning satellite G. The processing unit 102 performs at least processing related to location, and can operate as the base station 100. The processing unit 102 uses, as information regarding the position based on the positioning information received by the receiving unit 101, an installation position X1 which is its own position, correction information (reference position etc.) or perform calculations. The storage unit 103 stores the installation position X1 etc. measured in advance by the processing of the processing unit 102. The base communication device 104 can communicate with the outside through, for example, Wi-Fi (Wireless Fidelity, registered trademark) of the IEEE 802.11 series communication standard, a mobile phone communication network, a data communication network, a mobile phone communication network, etc. I can do it. Specifically, the portable base station 100 can perform wireless communication with at least the vehicle body communication device 40 (tractor 1). The fixed base station 100B can perform wireless communication with at least one of the vehicle body communication device 40 (tractor 1) and the VRS-RTK center 105. The base communication device 104 transmits information (correction information) regarding the position determined by the processing unit 102 to the vehicle body communication device 40 of the tractor 1, which is a moving body provided with a mobile station (vehicle body positioning device 42).

The vehicle body positioning device 42 of the tractor 1 switches the mode according to the base station 100 and determines the position of the vehicle body 3 by communicating with the base stations 100 such as the portable base station 100A and the fixed base station 100B and the VRS-RTK center 105. Positioning can be performed. In other words, the plurality of modes correspond to the reference position X, and each of the plurality of modes is a setting method for setting the reference position X. In this embodiment, the vehicle body positioning device 42 has a portable station mode that corresponds to the portable base station 100A and communicates with the portable base station 100A, and a portable station mode that corresponds to the fixed base station 100B and communicates with the fixed base station 100B. The VRS mode corresponds to the fixed base station 100B and communicates with the VRS-RTK center 105.

The portable station mode is a mode in which the position of the vehicle body 3 is determined based on correction information between the portable base station (field positioning device) 100A installed in the farm field H and the vehicle body positioning device 42. In the portable station mode, the vehicle body positioning device 42 measures the position of the vehicle body 3 using the RTK method (RTK-GNSS method) with the installation position X1 of the portable base station 100A as the reference position X. That is, the portable station mode is a method in which the installation position X1 of the field positioning device 100A installed in the field H is set as the reference position X. Specifically, the vehicle body communication device 40 receives information (correction information) regarding the position determined by the processing unit 102 of the portable base station 100A. The position calculation unit 46 corrects the positioning information with the correction information using the positioning information obtained based on the positioning signal received by the receiving device 43 and the correction information received by the vehicle body communication device 40, and calculates the position of the vehicle body 3. etc. with high precision.

The fixed station mode is a mode in which the position of the vehicle body 3 is calculated from the installation position (absolute position) X1 of the fixed base station 100B. In the fixed station mode, the vehicle body positioning device 42 measures the position of the vehicle body 3 using the RTK method (RTK-GNSS method) with the installation position X1 of the fixed base station 100B as the reference position X. In other words, the fixed station mode is a method in which the installation position X1 of the fixed base station 100B is set as the reference position X. Specifically, the vehicle body communication device 40 receives information (correction information) regarding the position determined by the processing unit 102 of the fixed base station 100B. The position calculation unit 46 corrects the positioning information with the correction information using the positioning information obtained based on the positioning signal received by the receiving device 43 and the correction information received by the vehicle body communication device 40, and calculates the position of the vehicle body 3. etc. with high precision.

The VRS mode is a mode in which the position of the vehicle body 3 is calculated using, as the reference position X, a virtual reference point Y determined based on the installation position (absolute position) X1 determined for the fixed base station 100B. In other words, the VRS mode is a method of setting the virtual reference point Y to the reference position X. In the VRS mode, the vehicle body positioning device 42 positions the vehicle body 3 using the virtual reference point RTK method (RTK-VRS method). Specifically, the position calculation unit 46 calculates the position of the vehicle body 3 by independent positioning, and the vehicle body communication device 40 communicates with the VRS-RTK center 105 to transmit positioning information by the independent positioning. The VRS-RTK center 105 processes the positioning information received from the vehicle communication device 40 and the data received from the fixed base station (electronic reference station) 100B to create correction information. The VRS-RTK center 105 transmits VRS data including correction information, and the vehicle body communication device 40 of the tractor 1 receives the VRS data. As a result, the position calculation unit 46 acquires the VRS data received by the vehicle body communication device 40, and in the VRS mode, the position calculation unit 46 obtains the VRS data as if the base station 100 were located at the virtual reference point Y near the mobile station (vehicle body positioning device 42). A state is created and the position of the vehicle body 3 is calculated with high precision using the RTK method.

Note that the vehicle body positioning device 42 can switch between at least two modes corresponding to the base station 100. For example, the vehicle body positioning device 42 can switch only between the portable station mode and the fixed station mode. The modes that can be switched are not limited to the above modes.
The vehicle body positioning device 42 can be switched to a plurality of modes corresponding to the base station 100 by operating the display device 30, for example. The vehicle body positioning device 42 has a method acquisition section 45. The method acquisition unit 45 acquires a setting method (mode) based on conditions stored in the storage device 32 in advance. The method acquisition unit 45 is composed of an electric/electronic circuit, a program stored in a CPU, and the like.

The vehicle body positioning device 42 can be switched from a mode before switching (first mode) to a mode after switching (second mode) by operating the display device 30 . Obtain the setting method (mode) based on the operation information. Specifically, the vehicle body positioning device 42 can switch the mode by selecting the selection member 113 displayed on the display unit 31. Note that when the display device 30 is not an operable touch panel or the like, the selection member 113 is an operable operating tool 34, and the mode may be switched by operating the operating tool 34. The switching condition is not limited to the operation of the display device 30 or the operating tool 34.

Further, the vehicle body positioning device 42 can be switched to a plurality of modes corresponding to the base station 100 according to the distance between the vehicle body 3 and the base station 100 in addition to or separately from the operation of the display device 30. It is. In this embodiment, the method acquisition unit 45 acquires a setting method (mode) according to the distance between the vehicle body 3 and the base station 100 in addition to the operation of the display device 30, and the vehicle body positioning device 42 switches to the mode. It is possible.

The flow of mode switching of the vehicle body positioning device 42 will be described below. First, an example will be described in which the display device 30 is operated to switch to the portable station system. As shown in FIG. 8, the vehicle body positioning device 42 positions the vehicle body 3 by, for example, independent positioning (S1). After positioning the vehicle body 3, the vehicle body positioning device 42 acquires operation information on the display device 30 (S2). The vehicle body positioning device 42 determines whether the operation information on the display device 30 indicates a switching operation to the portable station system (S3).

As shown in FIG. 8, since the display device 30 has been operated to switch to the portable station system (S3, Yes), the vehicle body communication device 40 is connected to the portable base station 100A disposed around the working machine 1. communication with the base communication device 104 of (S4). If the vehicle body communication device 40 can communicate with the base communication device 104 of the portable base station 100A (S5, Yes), the vehicle body communication device 40 receives the installation position X1 of the portable base station 100A from the base communication device 104 ( S6) The vehicle body positioning device 42 determines whether the distance between the vehicle body 3 and the portable base station 100A is within 500 m based on the position of the vehicle body 3 determined by independent positioning and the installation position X1. (S7).

If the vehicle body positioning device 42 determines that the distance between the vehicle body 3 and the portable base station 100A is within 500 m (S7, Yes), the method acquisition unit 45 acquires the portable station method, and the vehicle body positioning device 42 Switching is made to the portable station system (portable station mode) (S8).
On the other hand, if the vehicle body positioning device 42 determines that the distance between the vehicle body 3 and the portable base station 100A is not less than 500 m, that is, if the distance to the portable base station 100A exceeds 500 m (S7, No), The vehicle body communication device 40 starts communicating with the base communication device 104 of the fixed base station 100B located around the working machine 1 (S9). If the vehicle body communication device 40 can communicate with the fixed base station 100B (S10, Yes), the vehicle body communication device 40 receives the installation position X1 of the fixed base station 100B from the base communication device 104 (S11), and the vehicle body positioning device 42 determines whether the distance between the vehicle body 3 and the fixed base station 100B is within 10 km based on the position of the vehicle body 3 determined by independent positioning and the installation position X1 (S12).

When the vehicle body positioning device 42 determines that the distance between the vehicle body 3 and the fixed base station 100B is within 10 km (S12, Yes), the method acquisition section 45 acquires the fixed station method, and the display section 31 displays a predetermined warning screen. The vehicle positioning device 42 switches to the fixed station mode (fixed station mode) (S13). On the other hand, if the vehicle body positioning device 42 determines that the distance between the vehicle body 3 and the fixed base station 100B is not less than 10 km, that is, if the distance between the vehicle body 3 and the fixed base station 100B exceeds 10 km (S12, No. ), the system acquisition unit 45 acquires the VRS system, the display unit 31 of the vehicle body positioning device 42 displays a predetermined warning screen, and switches to the VRS system (VRS mode) (S14).

As shown in FIG. 8, when the vehicle body communication device 40 cannot communicate with the base communication device 104 of the portable base station 100A (S5, No), the vehicle body communication device 40 moves to S9.
Further, as shown in FIG. 8, when the vehicle body communication device 40 is unable to communicate with the base communication device 104 of the fixed base station 100B (S10, No), the method acquisition unit 45 acquires the VRS method, and the display unit 31 displays a predetermined warning screen, and the vehicle body positioning device 42 switches to the VRS method (VRS mode) (S14).

Next, an example will be described in which the display device 30 is operated to switch to the fixed station system. In S3, the vehicle body positioning device 42 determines whether the operation information on the display device 30 indicates switching to the portable station method, and determines whether the operation information on the display device 30 indicates switching to the portable station method. Since it has not been operated (S3, No), the vehicle body positioning device 42 determines whether the operation information on the display device 30 indicates that switching to the fixed station system has been performed (S15). Since the display device 30 has been operated to switch to the fixed station system (S15, Yes), the vehicle body communication device 40 moves to S9.

Further, to explain the case where the switching operation to the VRS method is performed by operating the display device 30 as an example, in S3, the vehicle body positioning device 42 detects that the operation information on the display device 30 is changed to the portable station method. Since the operation information on the display device 30 has not been changed to the portable station method (S3, No), the vehicle body positioning device 42 determines whether the operation information on the display device 30 has been changed to the fixed station method. (S15). Since the display device 30 has been operated to switch to the VRS method, that is, the display device 30 has not been operated to switch to the fixed station method (S15, No), the method acquisition unit 45 acquires the VRS method, and the vehicle body positioning device 42 , the system switches to the VRS system (S14).

Note that the vehicle body positioning device 42 only needs to be capable of switching to a plurality of setting methods corresponding to the base station 100 according to the distance between the vehicle body 3 and the base station 100, and the conditions and method for switching the setting method are based on the above configuration. Not limited.
To explain the creation of the second field map MP2 by the map creation unit 33, as shown in FIG. A second farmland map MP2 is created based on the deviation from the second position TP measured by the vehicle body positioning device 42 in the second mode and the first farmland map MP1. Specifically, the second position TP is the position of the vehicle body 3 determined by the vehicle body positioning device 42 while the vehicle body 3 is stopped in the second mode. In the following description, the first position FP and the second position TP are assumed to be the entrance point of the farm field H, and the first position FP is assumed to be the initial position of the vehicle body position VP1 determined in the first mode. Note that the second position TP only needs to correspond to the first position FP, and the position is not limited to the entrance of the field H, and may be, for example, a warehouse where the working machine 1 is stored outside the field H. good.

As shown in FIG. 9, the map creation unit 33 creates a second field map MP2 by shifting (shifting) the deviation between the first position FP and the second position TP with respect to the first field map MP1. For example, when a worker (driver) performs a predetermined operation on the display device 30 and the vehicle body positioning device 42 switches from the portable station mode (first mode) to the VRS mode (second mode), the worker When the user performs the map conversion operation, the map creation section 33 displays a second map creation screen on the display section 31 of the display device 30, as shown in FIG. On the second map creation screen, field identification information such as the first field map MP1, the plurality of vehicle body positions VP1, the mode name used when the first field map MP1 was created, the field name, and the field management number are displayed. In addition to image data indicating the field H, the map is associated with position information such as latitude and longitude. In such a case, the first field map MP1 is created by the map creation unit 33 when the vehicle body positioning device 42 is in the mobile station mode (first mode), and the first field map MP1 is created by the storage device 32 in correspondence with the mobile station mode. This is a map that I have attached and memorized.

The operator operates the display device 30 to select the first position FP corresponding to the second position TP from the plurality of vehicle body positions VP1. For example, the first position FP is the position of the vehicle body 3 at the entrance of the field H, which is located by the vehicle body positioning device 42 in the portable station mode (first mode), and the second position TP is the position of the vehicle body 3 at the entrance of the farm field H in the VRS mode (second mode). This is the position of the vehicle body 3 at the entrance of the farm field H determined by the vehicle body positioning device 42 while the vehicle body 3 is stopped.

When the operator selects the first position FP, the map creation unit 33 calculates the deviation between the latitude of the first position FP and the latitude of the second position TP, and the deviation between the longitude of the first position FP and the second position TP. By calculating and shifting the deviation with respect to the first field map MP1, a second field map MP2 corresponding to the VRS mode (second mode) is created. For example, as shown in FIG. 9, if the coordinates of the first position FP are (x, y) and the coordinates of the second position TP are (x+α, y−β), the map creation unit 33 From the difference between the latitude of the second position TP and the latitude of the first position FP, calculate the deviation between the latitude of the first position FP and the latitude of the second position TP - β. Calculate the deviation between the longitude of the first position FP and the longitude of the second position TP from the difference between the longitude of the second position TP and the longitude of the first position FP. Calculate the deviation α from Thereby, the map creation unit 33 creates the second field map MP2 by shifting the deviation (α, −β) with respect to the first field map MP1.

In the embodiment described above, the first position FP and the second position TP are the entrance points of the field H, and the operator operates the display device 30 to correspond to the second position TP from the plurality of vehicle body positions VP1. Although the example of selecting the first position FP has been described, the map creation unit 33 shifts the deviation between the first position FP and the second position TP corresponding to the first position FP with respect to the first field map MP1. It is sufficient if the second farm map MP2 can be created by shifting (shifting), and the method is not limited to the above method. For example, the storage device 32 stores the position information of the first position FP, holds the deviation between the first position FP and the second position TP, and the map creation unit 33 stores the position information of the first field map MP1. The second field map MP2 may be created by shifting (shifting) the deviation. Taking the case where the first position FP and the second position TP are a warehouse as an example, first, when the worker operates the selection member 113 while the work machine 1 is stopped in the warehouse, the method acquisition unit 45 , the setting method (second mode) is acquired based on the operation information of the selection member 113.

When the method acquisition unit 45 acquires the second mode, the vehicle body positioning device 42 positions the first position FP in the first mode before switching, performs a restart, and switches from the first mode to the second mode, for example. When the vehicle body positioning device 42 switches to the second mode, it starts positioning the second position TP in the second mode. When the vehicle body positioning device 42 starts positioning the second position TP, the display unit 31 displays, for example, a predetermined warning screen or warns the operator not to move the work equipment 1 by voice or the like. When the vehicle body positioning device 42 completes the positioning of the second position TP, the display unit 31 displays a predetermined warning screen or notifies the operator by voice or the like that the positioning of the second position TP has been completed.

When the display unit 31 notifies the above completion, the map creation unit 33 calculates the deviation between the latitude of the first position FP and the latitude of the second position TP, and the difference between the longitude of the first position FP and the second position TP. By calculating the deviation and shifting the deviation with respect to the first farm field map MP1, a second farm field map MP2 corresponding to the second mode is created.
Further, in the above description, the case where the vehicle body positioning device 42 switches from the portable station mode (first mode) to the VRS mode (second mode) was explained as an example, but the map creation unit 33 The second position is determined based on the deviation between the first position FP measured by the vehicle body positioning device 42 in the first mode and the second position TP determined by the vehicle body positioning device 42 in the second mode after switching, and the first field map MP1. It is only necessary to create the farm field map MP2, and the map creation unit 33 can create the second farm field map MP2 using the same procedure as in the above-described example even when switching to other modes.

Position information (latitude, longitude) on the second field map MP2 is stored in the storage device 32 of the display device 30 in association with at least the second mode. The display device 30 switches and displays the first field map MP1 and the second field map MP2. Furthermore, the display device 30 can create a planned travel route L on the switched and displayed farm field map.
As shown in FIG. 2, the display device 30 includes a route creation section 35 that creates a planned travel route L. The route creation unit 35 is composed of, for example, electrical/electronic components provided in the display device 30, a program incorporated in the display device 30, and the like. The route creation unit 35 creates a planned travel route L as shown in FIG. 11 for the working machine 1 to automatically travel on at least one of the first farm map MP1 and the second farm map MP2. In this embodiment, the route creation unit 35 can create the planned travel route L in both the first field map MP1 and the second field map MP2.

When the operator (driver) performs a predetermined operation on the display device 30, the route creation unit 35 displays a route setting screen M3 as shown in FIG. The route setting screen M3 displays either the first farm map MP1 or the second farm map MP2 depending on the mode of the vehicle body positioning device 42 and the selected map. The route setting screen M3 includes, for example, a headland width input section 110 for inputting the headland width W1, a working width input section 111 for inputting the working width W2, and a screen for confirming the inputted headland width W1 and working width W2. A determination button 112 is displayed. When the operator (driver) operates the display device 30 and inputs the headland width W1 into the headland width input section 110 and then selects the enter button 112, the route creation section 35 The work area A2 excluding the headland area A1 is displayed on one of the first field map MP1 and the second field map MP2).

Further, when the operator (driver) operates the display device 30 and inputs the working width W2 into the working width input section 111 and then selects the enter button 112, the route creation section 35 inputs the working width W2 into the working width input section 111. Based on this, a plurality of unit work sections A3n (n: the number of unit work sections A3) are created in a predetermined field H, that is, a field map (either one of the first field map MP1 and the second field map MP2). Specifically, as shown in FIG. 13A, the route creation unit 35 divides the work area A2 into a plurality of unit work sections A3n in which work is performed using the work device 2 by dividing the work area A2 in the vertical or horizontal direction with a work width W2. Create in work area A2. That is, the route creation unit 35 creates a plurality of unit work sections A3 having the same width as the work width W2 within the work area A2. Note that, as shown in FIG. 13B, the route creation unit 35 may create a plurality of unit work sections A3n within the work area A2 with a width equal to the work width W2 minus the overlap width. The overlap width can be input, for example, on the route setting screen M3.

When the setting of the unit work section A3 is completed, the route creation section 35 creates the planned travel route L. As shown in FIG. 11, the route creation unit 35 creates a straight-line section (straight-line route) L1 along which the vehicle body 3 moves straight for each unit work section A3. The route creation unit 35 creates a turning portion (turning route) L2 around which the vehicle body 3 turns in the headland area A1. The planned travel route L created by the route creation unit 35 is stored in the storage device 32 of the display device 30 in association with the selected field map (either the first field map MP1 or the second field map MP2). be done.

Note that the route creation unit 35 only needs to be able to create the planned travel route L in either the first field map MP1 or the second field map MP2, and the above-mentioned procedure is merely an example, and other procedures may be adopted. You may.
The work equipment 1 described above includes the vehicle body 3, the reference acquisition unit 41 that acquires the reference position X of the base station 100, the first mode corresponding to the base station 100, the satellite signal from the positioning satellite G, and the reference acquisition unit 41. A vehicle body positioning device 42 that positions the first position FP based on the acquired reference position 33, the vehicle body positioning device 42 positions the second position TP based on a second mode different from the first mode while the vehicle body 3 is stopped, and the map creation unit 33 positions the second position TP based on the second mode different from the first mode. A second farmland map MP2 different from the first farmland map MP1 is created based on the deviation between the second position TP and the first farmland map MP1. According to the above configuration, in the second mode, the map creation unit 33 can use the first field map MP1, correct the positional shift based on the deviation, and create the second field map MP2. Thereby, the first field map MP1 created in the first mode can be carried over to the second mode.

Furthermore, the map creation unit 33 creates a second field map MP2 by shifting the deviation with respect to the first field map MP1. According to the above configuration, the information of the first field map MP1 can be easily utilized even in the second mode by shifting and correcting the positional deviation that occurs between the first mode and the second mode.
Further, the first mode is a portable station mode in which the first position FP is determined based on correction information between the field positioning device 100A installed in the field H and the vehicle body positioning device 42, and the second mode is a mobile station mode in which the first position FP is determined based on the correction information of the field positioning device 100A installed in the field H and the vehicle body positioning device 42. This is a VRS mode in which the second position TP is calculated using the virtual reference point Y determined based on the absolute position X1 determined in 100B. According to the above configuration, the work machine 1 can use the first farm map MP1 as the second farm map MP2 even if the farm field H is not equipped with the farm positioning device 100A.

Further, the first mode is a portable station mode in which the first position FP is determined based on correction information between the field positioning device 100A installed in the field H and the vehicle body positioning device 42, and the second mode is a mobile station mode in which the first position FP is determined based on the correction information of the field positioning device 100A installed in the field H and the vehicle body positioning device 42. This is a fixed station mode in which the second position TP is calculated from the absolute position X1 of 100B. According to the above configuration, when the work equipment 1 is within the effective range of the fixed base station 100B, the work equipment 1 uses the first field map MP1 as the second field map MP2 even if the field positioning device 100A is not installed in the field H. be able to.

Further, the first mode is a VRS mode in which the first position FP is calculated based on the virtual reference point Y determined based on the absolute position X1 determined in the fixed base station 100B, and the second mode is a VRS mode in which the first position FP is calculated based on the This is a portable station mode in which the second position TP is determined based on the corrected information of the field positioning device 100A and the vehicle body positioning device 42. According to the above configuration, when the working machine 1 is within the effective range of the portable base station 100A, the working machine 1 can use the first farmland map MP1 as the second farmland map MP2 with higher accuracy.

Further, the first mode is a VRS mode in which the first position FP is calculated based on the virtual reference point Y determined based on the absolute position X1 determined for the fixed base station 100B, and the second mode is a This is a fixed station mode in which the second position TP is calculated from the absolute position X1 of the station. According to the above configuration, when the working machine 1 is within the effective range of the fixed base station 100B, it is possible to use the first farmland map MP1 as the second farmland map MP2 with high accuracy.

Further, the first mode is a fixed station mode in which the first position FP is calculated from the absolute position X1 of the fixed base station 100B, and the second mode is a fixed station mode in which the first position FP is calculated from the absolute position X1 of the fixed base station 100B. This is a portable station mode in which the second position TP is determined based on the correction information. According to the above configuration, when the working machine 1 is within the effective range of the portable base station 100A, the working machine 1 can use the first farmland map MP1 as the second farmland map MP2 with higher accuracy.

Further, the first mode is a fixed station mode in which the first position FP is calculated from the absolute position X1 of the fixed base station 100B, and the second mode is a fixed station mode in which the first position FP is calculated based on the absolute position X1 determined in the fixed base station 100B. This is a VRS mode in which the first position FP is calculated using the virtual reference point Y. According to the above configuration, even if the working machine 1 is outside the effective range of the fixed base station 100B, the working machine 1 can use the first farmland map MP1 as the second farmland map MP2.

The farm also includes a display device 30 that switches between and displays the first field map MP1 and the second field map MP2. According to the above configuration, the operator can easily recognize the switching between the first field map MP1 and the second field map MP2.
Furthermore, the display device 30 includes a route creation unit 35 that creates a planned travel route L on at least one of the first field map MP1 and the second field map MP2. According to the above configuration, the route creation unit 35 can create the planned travel route L from one of the first farm map MP1 and the second farm map MP2, and use the planned travel route L from the other.

Although the present invention has been described above, the embodiments disclosed this time should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is indicated by the claims rather than the above description, and it is intended that all changes within the meaning and range equivalent to the claims are included. For example, in the embodiment described above, the work equipment 1 performs automatic operation based on the scheduled travel route L, but the work equipment 1 does not control the traveling speed based on the planned travel route L, but performs automatic steering. It may be a configuration.

1 Work equipment (tractor)
3 Vehicle body 30 Display device 33 Map creation unit 35 Route creation unit 41 Reference acquisition unit 42 Vehicle body positioning device 100 Base station 100A Portable base station 100B Fixed base station FP 1st position G Positioning satellite H Farm field L Scheduled travel route MP1 1st field Map MP2 2nd field map TP 2nd position X Reference position X1 Absolute position Y Virtual reference point

Claims (10)

The car body and
a reference acquisition unit that acquires a reference position of a base station;
The mode can be switched to a first mode and a second mode that correspond to the base station and have different positioning methods for the position of the vehicle body, based on a satellite signal from a positioning satellite and the reference position acquired by the reference acquisition unit. , a vehicle body positioning device that measures the position of the vehicle body;
a map creation unit capable of creating a first field map based on the position of the vehicle body measured by the vehicle body positioning device in the first mode;
Equipped with
The map creation unit is configured to locate a predetermined first position of the vehicle body positions determined by the vehicle body positioning device in the first mode, and to stop the vehicle body at the position where the vehicle body positioning device determined the first position. is different from the first farmland map based on the deviation from the second position, which is the position of the vehicle body measured by the vehicle body positioning device in the second mode, and the first farmland map, and A work machine that creates a second field map corresponding to the second mode. The working machine according to claim 1, wherein the map creation unit creates the second field map by shifting the deviation with respect to the first field map. The first mode is a portable station mode in which the position of the vehicle body is determined using the reference position as the installation position of a field positioning device that is the base station and is installed in the field; The work machine according to claim 1 or 2, which is a VRS mode in which the position of the vehicle body is calculated using a virtual reference point determined based on an absolute position determined at a fixed base station as the reference position. The first mode is a portable station mode in which the position of the vehicle body is determined using the reference position as the installation position of a field positioning device that is the base station and is installed in the field; 3. The work machine according to claim 1, wherein the working machine is in a fixed station mode in which the position of the vehicle body is calculated using the absolute position of a fixed base station as the reference position. The first mode is a VRS mode in which the position of the vehicle body is calculated using a virtual reference point determined based on an absolute position determined by the fixed base station, which is the base station, as the reference position, and the second mode is The working machine according to claim 1 or 2, wherein is a portable station mode in which the position of the vehicle body is determined using the reference position as the installation position of a field positioning device which is the base station and is installed in a field. The first mode is a VRS mode in which the position of the vehicle body is calculated using a virtual reference point determined based on an absolute position determined by the fixed base station, which is the base station, as the reference position, and the second mode is The working machine according to claim 1 or 2, wherein is a fixed station mode in which the position of the vehicle body is calculated using the absolute position of the fixed base station as the base station as the reference position. The first mode is a fixed station mode in which the position of the vehicle body is calculated using the absolute position of the fixed base station that is the base station as the reference position, and the second mode is a fixed station mode that calculates the position of the vehicle body using the absolute position of the fixed base station that is the base station and is installed in a field. The working machine according to claim 1 or 2, wherein the working machine is in a portable station mode in which the position of the vehicle body is determined using the installed position of the field positioning device as the reference position. The first mode is a fixed station mode in which the position of the vehicle body is calculated using the absolute position of the fixed base station as the base station as the reference position, and the second mode is a fixed station mode in which the position of the vehicle body is calculated using the absolute position of the fixed base station as the base station. The work machine according to claim 1 or 2, which is a VRS mode in which the position of the vehicle body is calculated using a virtual reference point determined based on a determined absolute position as the reference position. The working machine according to any one of claims 1 to 8, further comprising a display device that switches and displays the first field map and the second field map. The working machine according to claim 9, wherein the display device includes a route creation section that creates a planned travel route on at least one of the first field map and the second field map.

Images