WO2018030154A1

WO2018030154A1 - Autonomous travel system

Info

Publication number: WO2018030154A1
Application number: PCT/JP2017/027064
Authority: WO
Inventors: 宮窪　孝富; 山下　春造
Original assignee: ヤンマー株式会社
Priority date: 2016-08-09
Filing date: 2017-07-26
Publication date: 2018-02-15
Also published as: JP2018025924A

Abstract

A measure against a movement of a reference station from a reference point is taken to prevent inconveniences, such as a significant deviation of an operation vehicle from a target travel route. An autonomous travel system is provided with: a reference station (60) which is installed at a predetermined reference point and which transmits correction information based on positional information of the reference point and satellite positioning information; a mobile station which is mounted on an operation vehicle (1) and which calculates positional information of the operation vehicle (1) on the basis of the correction information transmitted from the reference station (60) and the satellite positioning information; and an autonomous travel control unit for causing the operation vehicle to autonomously travel along a target travel route predetermined by using the positional information of the operation vehicle (1) calculated by the mobile station. The autonomous travel system includes a movement detection unit for detecting a movement of the reference station (60), and the autonomous travel control unit stops autonomous travel of the operation vehicle (1) when the movement detection unit detects the movement of the reference station (60).

Description

Autonomous traveling system

The present invention relates to an autonomous traveling system that autonomously travels a work vehicle along a target travel route while acquiring position information of the work vehicle.

The autonomous traveling system as described above includes a reference station installed at a reference point, and satellite positioning information is acquired from positioning satellites in both the work vehicle and the reference station. The reference station transmits correction information including the position information of the reference point and the acquired satellite positioning information to the work vehicle. The work vehicle does not obtain the current position information of the work vehicle only from the satellite positioning information acquired by itself, but corrects the satellite positioning information acquired by itself using the correction information transmitted from the reference station. The current position information of the vehicle is obtained with high accuracy. Then, based on the obtained current position information of the work vehicle, the work vehicle is allowed to autonomously travel along the target travel route (see, for example, Patent Document 1).

JP-A-9-128045

In the system described in Patent Document 1, for example, if the reference station moves from the reference point due to an earthquake or other factors, the correction information transmitted from the reference station becomes incorrect information. Therefore, there is a possibility that the current position information of the work vehicle cannot be acquired appropriately, and that the work vehicle is greatly deviated from the target travel route.

In view of this situation, the main problem of the present invention is to provide an autonomous traveling system capable of preventing inconveniences such as the work vehicle greatly deviating from the target traveling route by taking measures against movement of the reference station from the reference point. The point is to provide.

A first characteristic configuration of the present invention includes a reference station that is installed at a predetermined reference point and transmits correction information based on position information of the reference point and satellite positioning information;
A mobile station that is mounted on a work vehicle and calculates position information of the work vehicle based on the correction information and satellite positioning information transmitted from the reference station;
An autonomous traveling system comprising: an autonomous traveling control unit that autonomously travels the working vehicle along a predetermined traveling route using position information of the working vehicle calculated by the mobile station,
A movement detection unit for detecting movement of the reference station;
The autonomous traveling control unit is characterized in that when the movement of the reference station is detected by the movement detecting unit, the autonomous traveling of the work vehicle is stopped.

According to this configuration, when the movement detection unit detects the movement of the reference station, the autonomous traveling control unit stops the autonomous traveling of the work vehicle. Accordingly, when the reference station moves from the reference point, it is possible to take an appropriate measure of stopping the autonomous traveling of the work vehicle, and it is possible to prevent inconveniences such as the work vehicle greatly deviating from the target travel route.

According to a second characteristic configuration of the present invention, the reference station has a transmission stop unit that stops transmission of the correction information when movement of the reference station is detected by the movement detection unit,
The autonomous traveling control unit is characterized in that the autonomous traveling of the work vehicle is stopped based on the fact that the mobile station cannot acquire the correction information from the reference station.

According to this configuration, when the movement detection unit detects the movement of the reference station, the transmission stop unit stops the transmission of the correction information, and the autonomous traveling control unit cannot acquire the correction information, thereby stopping the autonomous traveling of the work vehicle. Accordingly, it is possible to take appropriate measures against the movement of the reference station only by adopting a simple configuration in which transmission of correction information is stopped by the transmission stop unit.

According to a third characteristic configuration of the present invention, the transmission stop unit stops transmission of the correction information until a return operation is performed on the reference station, and is specified based on satellite positioning information after the return operation is performed. The current position of the reference station and the position of the reference point are compared, and if the position error is within a predetermined threshold, transmission of the correction information is not stopped.

According to this configuration, the transmission stop unit stops the transmission of the correction information until the return operation is performed with respect to the reference station. Therefore, the autonomous traveling of the work vehicle can be stopped until the return operation is performed. . Therefore, it is possible to reliably prevent inconveniences such as the work vehicle greatly deviating from the target travel route.

And even if the movement of the reference station is detected, for example, if the movement is only slight, the current position information of the work vehicle can be appropriately acquired even if the correction information is transmitted as it is from the reference station. Therefore, the transmission stop unit compares the current position of the reference station with the position of the reference point after the return operation is performed, and if the position error is within a predetermined threshold, the reference station is only moved slightly. The correction information is transmitted from the reference station without stopping the transmission of the correction information. Therefore, the autonomous traveling of the work vehicle can be resumed after confirming that the current position information of the work vehicle can be appropriately acquired.

According to a fourth characteristic configuration of the present invention, the reference station compares the current position of the reference station specified based on satellite positioning information with the position of the reference point after the return operation to the reference station is performed. A reference point setting unit that sets the current position of the reference station as a new reference point when the error is outside a predetermined threshold;
The transmission stop unit does not stop the transmission of the correction information when the current position of the reference station is set as a new reference point by the reference point setting unit.

For example, if the reference station has moved greatly from a predetermined original reference point, the current position information of the work vehicle can be appropriately acquired even if correction information including the position information of the reference point is transmitted from the reference station. I can't. Therefore, after the return operation is performed, the reference point setting unit compares the current position of the reference station with the position of the reference point, and if the position error is outside a predetermined threshold, the reference station is Assuming that there is a large movement from the reference point, the current position of the reference station is set as a new reference point. When a new reference point is set by the reference point setting unit, the transmission stop unit does not stop transmission of correction information, and the reference station transmits correction information including position information of the newly set reference point. Can do. Therefore, even when the reference station has moved greatly from the original reference point set in advance, the current position information of the work vehicle can be acquired appropriately, and the autonomous traveling of the work vehicle can be resumed appropriately. it can.

A fifth characteristic configuration of the present invention includes a wireless communication terminal capable of instructing the autonomous traveling control unit to autonomously travel the work vehicle via a wireless communication network,
The wireless communication terminal is characterized in that, when movement of the reference station is detected by the movement detection unit, a predetermined notification indicating that the reference station has been moved is performed.

According to this configuration, when the movement detection unit detects the movement of the reference station, the wireless communication terminal performs a predetermined notification that suggests the movement of the reference station, so that an operator or the like can easily recognize the movement of the reference station. For example, it is possible to appropriately and smoothly cope with the movement of the reference station such as a return operation for the reference station.

Overall side view of tractor Control block diagram of tractor, reference station, and wireless communication terminal Time chart showing operations in tractor, reference station, and wireless communication terminal when movement of reference station is detected

An embodiment of an autonomous traveling system according to the present invention will be described with reference to the drawings.
This autonomous traveling system is configured to generate a target traveling route and to autonomously travel the tractor 1 as a work vehicle along the generated target traveling route.

First, the tractor 1 will be described with reference to FIG.
The tractor 1 includes a vehicle body portion 2 on which a work machine 50 can be mounted on the rear side, the front portion of the vehicle body portion 2 is supported by a pair of left and right front wheels 3, and the rear portion of the vehicle body portion 2 is a pair of left and right rear wheels 4. It is supported. A bonnet 5 is disposed in the front part of the vehicle body 2, and an engine 6 as a drive source is accommodated in the bonnet 5. A cabin 7 for a driver to board is provided on the rear side of the bonnet 5, and a steering handle 8 for a driver to steer and a driver's driving seat 9 are provided in the cabin 7. It has been.

The engine 6 can be composed of, for example, a diesel engine, but is not limited thereto, and may be composed of, for example, a gasoline engine. Further, an electric motor may be employed as a drive source in addition to the engine 6 or instead of the engine 6.

In this embodiment, the tractor 1 will be described as an example of a work vehicle. As the work vehicle, in addition to a tractor, a walking machine in addition to a riding work vehicle such as a rice transplanter, a combiner, a civil engineering / construction work device, a snowplow, A type work vehicle is also included.

A three-point link mechanism including a pair of left and right lower links 10 and an upper link 11 is provided on the rear side of the vehicle body portion 2, and the working machine 50 can be mounted on the three-point link mechanism. Although not shown, a lifting device having a hydraulic device such as a lifting cylinder is provided on the rear side of the vehicle body 2, and this lifting device lifts and lowers the work implement 50 by lifting and lowering the three-point link mechanism. ing.

Here, with respect to the working machine 50, FIG. 1 illustrates the case where a tilling device is mounted, but not only the tilling device but various working machines such as a plow and a fertilizer can be applied.

As shown in FIG. 2, the tractor 1 includes a governor device 21 that can adjust the rotational speed of the engine 6, a transmission device 22 that shifts the rotational driving force from the engine 6 and transmits it to the drive wheels, the governor device 21, A control unit 23 and the like that can control the device 22 are provided. The transmission 22 is configured by combining, for example, a main transmission composed of a hydraulic continuously variable transmission and an auxiliary transmission composed of a gear type multi-stage transmission.

The tractor 1 not only allows the driver to travel in the cabin 7, but also allows the tractor 1 to autonomously travel based on instructions from the wireless communication terminal 30 even if the driver does not board the cabin 7. It is configured as possible.

As shown in FIG. 2, the tractor 1 includes a steering device 24, a positioning antenna 25, a wireless communication antenna 26, and the like, and autonomously acquires its current position information (position information of the vehicle body 2). It is configured to be able to run.

The steering device 24 is provided, for example, in the middle of the rotation shaft of the steering handle 8 and is configured to be able to adjust the rotation angle (steering angle) of the steering handle 8. When the control unit 23 controls the steering device 24, not only the straight traveling but also the turning angle of the steering handle 8 can be adjusted to a desired turning angle, and the turning turning with the desired turning radius can be performed. The steering device 24 may adjust the steering angle of the front wheel 3 of the tractor 1 instead of adjusting the rotation angle of the steering handle 8, and in this case, the steering handle 8 rotates even if the vehicle turns. do not do.

As shown in FIG. 1, the positioning antenna 25 is configured to receive a signal from a positioning satellite 63 that constitutes a satellite positioning system (GNSS), for example. The positioning antenna 25 is disposed on the upper surface of the roof 13 of the cabin 7.

The wireless communication antenna 26 is configured to transmit and receive various signals via a wireless communication network constructed with the wireless communication terminal 30 and the like. The radio communication antenna 26 is disposed on the upper surface of the roof 13 of the cabin 7. As shown in FIG. 2, the signal received by the wireless communication antenna 26 can be input to the control unit 23, and the signal from the control unit 23 is transmitted to the wireless communication terminal 30 by the wireless communication antenna 26. It can be transmitted to the device 31 and the like.

Here, as a positioning method using the satellite positioning system, a reference station 60 installed at a predetermined reference point is provided, and satellite positioning information of the tractor 1 (mobile station) is corrected by correction information from the reference station 60. A positioning method for obtaining the current position of the tractor 1 can be applied. For example, various positioning methods such as DGPS (differential GPS positioning) and RTK positioning (real-time kinematic positioning) can be applied.

In this embodiment, for example, RTK positioning is applied, and as shown in FIGS. 1 and 2, in addition to providing the positioning antenna 25 on the tractor 1 on the mobile station side, the reference station positioning antenna 62 is provided. A provided reference station 60 is provided. The reference station 60 is arranged at a position (reference point) that does not interfere with the traveling of the tractor 1, for example, around the farm field. The position information of the reference point that is the installation position of the reference station 60 is set in advance. The reference station 60 includes a reference station wireless communication device 61 capable of transmitting and receiving various signals via a wireless communication network constructed by the wireless communication antenna 26 of the tractor 1 and the wireless communication device 31 of the wireless communication terminal 30. Various types of information can be transmitted and received between 60 and the tractor 1 and between the reference station 60 and the wireless communication terminal 30.

In RTK positioning, the carrier phase (satellite positioning information) from the positioning satellite 63 is measured by both the reference station 60 installed at the reference point and the positioning antenna 25 of the tractor 1 on the mobile station side whose position information is to be obtained. is doing. The reference station 60 generates correction information including the measured satellite positioning information and reference point position information every time the satellite positioning information is measured from the positioning satellite 63 or every time the set period elapses, and the reference station wireless communication device The correction information is transmitted from 61 to the radio communication antenna 26 of the tractor 1. The control unit 23 of the tractor 1 (corresponding to the mobile station) corrects the satellite positioning information measured by the positioning antenna 25 by using the correction information transmitted from the reference station 60, and the current position information of the tractor 1 is obtained. Looking for. The control unit 23 obtains, for example, latitude information / longitude information as the current position information of the tractor 1.

In the autonomous traveling system, in addition to the tractor 1 and the reference station 60, a wireless communication terminal 30 capable of instructing the control unit 23 of the tractor 1 to autonomously travel the tractor 1 is provided. The wireless communication terminal 30 is composed of, for example, a tablet personal computer having a touch panel, and can display various information on the touch panel. Various information can also be input by operating the touch panel. The wireless communication terminal 30 includes a wireless communication device 31 and a travel route calculation unit 32 that generates a target travel route.

The control unit 23 provided in the tractor 1 is configured to transmit and receive various types of information to and from the wireless communication terminal 30 via a wireless communication network including the wireless communication antenna 26 and the wireless communication device 31. The wireless communication terminal 30 is configured to be able to instruct autonomous traveling of the tractor 1 by transmitting various information for autonomously traveling the tractor 1 such as a target traveling route to the control unit 23 of the tractor 1. The control unit 23 (corresponding to the autonomous travel control unit) of the tractor 1 uses the received signal of the positioning antenna 25 so that the tractor 1 autonomously travels along the target travel route generated by the travel route calculation unit 32. Based on the current position information of the tractor 1 to be acquired, the governor device 21, the transmission device 22, the steering device 24, and the like can be controlled.

Further, the control unit 23 as an autonomous traveling control unit can control the tractor 1 to stop based on a stop instruction from the wireless communication terminal 30. Furthermore, when a predetermined condition is satisfied, the wireless communication terminal The tractor 1 can be controlled to stop without being based on the stop instruction from 30. As predetermined conditions, when communication between the positioning antenna 25 and the positioning satellite 63 is cut off, when communication of the radio communication device 31 between the radio communication antenna 26 and the radio communication terminal 30 is cut off, the radio communication antenna 26 and the case where the communication between the reference station 60 and the reference station wireless communication device 61 is interrupted. In addition to the predetermined conditions, communication between the radio communication antenna 26 and the reference station radio communication device 61 of the reference station 60 is not interrupted, but correction information is not transmitted (output) from the reference station radio communication device 61, in other words. For example, a case where the wireless communication antenna 26 no longer receives (inputs) the correction information is included. In addition, as another predetermined condition, when the current position of the tractor 1 deviates from the target travel route (the lateral deviation of the tractor 1 with respect to the direction perpendicular to the traveling direction of the tractor 1 on the target travel route is a predetermined threshold value) (If it is above).

Characteristic items in the autonomous traveling system of the present embodiment will be described based on the above configuration.
When the control unit 23 of the tractor 1 performs autonomous traveling of the tractor 1 according to an instruction from the wireless communication terminal 30, for example, if the reference station 60 moves from the reference point due to an earthquake or other factors, the reference station 60 The correction information transmitted from to the tractor 1 (mobile station) is incorrect information. Therefore, the current position information of the tractor 1 cannot be appropriately acquired, and there is a possibility that inconveniences such as the tractor 1 greatly deviating from the target travel route may occur. Therefore, measures are taken when the reference station 60 is moved, and the measures will be described below.

As shown in FIG. 2, the reference station 60 includes a movement detection unit 64 that can detect the movement of the reference station 60, a transmission stop unit 65 that can stop transmission of correction information from the reference station 60, and the current position of the reference station 60. A reference point setting unit 66 that can be set as a new reference point is provided. In addition, the wireless communication terminal 30 includes a notification unit 33 that performs a predetermined notification that suggests that the reference station 60 has moved.

The reference station 60 is provided with, for example, a sensor used in a satellite positioning system, and the moving speed of the reference station 60 is detected by the sensor or the like. Therefore, the movement detection unit 64 detects the movement of the reference station 60 when the movement speed is greater than zero based on the movement speed of the reference station 60 detected by this sensor or the like. Incidentally, the sensor is not limited to a sensor used in the satellite positioning system, and any sensor that can detect the movement of the reference station 60 can be used. For example, an angular velocity sensor, a gyro sensor, or the like can be applied.

As described above, when the movement speed of the reference station 60 is detected, the movement of the reference station 60 can be detected by using the movement speed of the reference station 60 as it is. Instead, since the displacement of the reference station 60 can be obtained by integrating the moving speed with time, the movement detecting unit 64 obtains the positional displacement of the reference station 60 from the moving speed of the reference station 60, and the obtained reference station. The movement of the reference station 60 can also be detected based on the 60 position displacement. Since the position of the reference station 60 is set in advance, the current position can be specified based on the initial position and the position displacement, and the reference station 60 can be moved by comparing the initial position and the current position. It can also be detected.

In addition, since the position information of the reference station 60 can be acquired by independent positioning using a satellite positioning system separately from the above-described sensors and the like, the movement detection unit 64 uses the position information of the reference station 60 acquired by independent positioning. Based on this, the movement of the reference station 60 can be detected. Furthermore, not only the single positioning but also, for example, the position information of the reference station 60 can be obtained by RTK positioning using the reference station 60 as a mobile station using a publicly installed electronic reference point or the like. The movement of the reference station 60 can be detected based on the position information of the reference station 60 acquired by RTK positioning.

Based on FIG. 3, operations of the reference station 60, the tractor 1, and the wireless communication terminal 30 when the movement detection unit 64 detects the movement of the reference station 60 will be described.

First, in the reference station 60, when the movement detector 64 detects the movement of the reference station 60, the transmission stop unit 65 stops transmission of correction information from the reference station 60 to the tractor 1 (mobile station) (step # 1, Step # 2). As a result, in the tractor 1, the control unit 23 cannot receive the correction information from the reference station 60 and cannot acquire the correction information, thereby stopping the autonomous traveling of the tractor 1 (step # 11, step # 12). Therefore, when the movement of the reference station 60 is detected by the movement detection unit 64, the autonomous traveling of the tractor 1 is stopped, and inconveniences such as the tractor 1 greatly deviating from the target traveling route occur. Can be prevented.

The control unit 23 of the tractor 1 transmits information indicating that the autonomous traveling of the tractor 1 has been stopped when the movement of the reference station 60 is detected by the movement detection unit 64 to the wireless communication terminal 30. When the wireless communication terminal 30 receives the information, the notification unit 33 performs a predetermined notification indicating that the reference station 60 has been moved (step # 21).

In the reference station 60, when the power of the reference station 60 is once interrupted and a return operation is performed in which power is supplied to the reference station 60 again, the reference station 60 is restarted and the current position of the reference station 60 is determined based on the satellite positioning information. Information is acquired (step # 3). The current position information of the reference station 60 can be acquired by, for example, independent positioning based on the satellite positioning information. Further, not only the single positioning but also the current position information of the reference station 60 can be obtained by RTK positioning using, for example, a publicly installed electronic reference point.

Here, the return operation can be applied not only to the operation of temporarily cutting off the power of the reference station 60 and supplying the power to the reference station 60 again, but also to other operations. For example, when the reference station 60 is provided with a reset function, for example, an operation for operating the reset function, such as operating a reset button, may be a return operation.

The transmission stop unit 65 compares the current position of the reference station 60 acquired based on the satellite positioning information and the position of the reference point, and if the position error is within a predetermined threshold, the transmission stop unit 65 does not stop transmitting correction information. The correction information is transmitted from the reference station 60 to the tractor 1 (in the case of Yes in step # 4, step # 7). Thus, even if the movement of the reference station 60 is detected, if the reference station 60 has moved slightly, correction information including the position information of the original reference point determined in advance is transmitted from the reference station 60.

Incidentally, the threshold can be set as appropriate. As described above, the control unit 23 of the tractor 1 calculates the current position information of the tractor 1 using the satellite positioning information measured by the positioning antenna 25 and the correction information transmitted from the reference station 60. The obtained current position information of the tractor 1 may cause an error within an allowable range that does not cause inconvenience when autonomous traveling is performed with respect to the actual position of the tractor 1. Therefore, when the position error in step # 4 is within the permissible range, there is no inconvenience in performing autonomous travel, so the threshold value can be determined based on the permissible range.

The reference point setting unit 66 compares the current position of the reference station 60 acquired based on the satellite positioning information with the position of the reference point, and if the position error is outside a predetermined threshold, the reference point setting unit 66 newly sets the current position of the reference station 60. Is set as a valid reference point (step # 5). In the reference station 60, when a new reference point is set by the reference point setting unit 66, reference point update information indicating that the current position of the reference station 60 is set as a new reference point is transmitted to the tractor 1 (step #). 6). Then, the reference station 60 transmits correction information including the position information of the new reference point and the satellite positioning information to the tractor 1 (step # 7). Thereby, when the reference station 60 has moved greatly from the original reference point set in advance, the current position of the reference station 60 is set as a new reference point, the reference point update information is transmitted, and a new Correction information including position information of the reference point can be transmitted from the reference station 60.

In the tractor 1, the control unit 23 determines whether or not a predetermined initialization operation has been performed by the user after stopping the autonomous traveling of the tractor 1 in step # 12 (step # 13). The predetermined initialization work is performed, for example, by initialization work of the lifting device (operating a switch for switching ON / OFF of driving of the lifting device). When a predetermined initialization operation is performed in step # 13 (in the case of YES in step # 13), the control unit 23 determines whether or not the autonomous running start condition is satisfied (step # 14). The predetermined initialization work in step # 13 is one of the autonomous running start conditions. As the autonomous running start condition, for example, the current position of the tractor 1 is an autonomous running restart position determined when the autonomous running is stopped. In addition, the direction of the tractor 1 with respect to the planned travel route is an appropriate direction. If the autonomous running start condition is satisfied, the autonomous running standby state is established (step # 15), and the control unit 23 causes the tractor 1 to autonomously run when the wireless communication terminal 30 instructs autonomous running.

When the control unit 23 of the tractor 1 acquires the reference point update information from the reference station 60, the control unit 23 transmits the reference point update information to the wireless communication terminal 30. When receiving the information, the wireless communication terminal 30 stops the predetermined notification indicating that the reference station 60 has moved, and the reference point of the reference station 60 has been updated (set to a new position). Is given (step # 22).

[Another embodiment]
(1) In the above embodiment, when the movement detection unit 64 detects the movement of the reference station 60, the transmission stop unit 65 stops the transmission of the correction information, thereby stopping the autonomous traveling of the tractor 1. Instead, for example, when the movement detection unit 64 detects the movement of the reference station 60, the reference station 60 displays error status information indicating that the movement detection unit 64 has detected the movement of the reference station 60 in the wireless communication network. The control unit 23 of the tractor 1 can also stop the autonomous traveling of the tractor 1 by receiving the error status information.

In this case, the control unit 23 of the tractor 1 transmits error information indicating that the movement detection unit 64 has detected the movement of the reference station 60 from the tractor 1 to the wireless communication terminal 30 via the wireless communication network. In addition, the control unit 23 of the tractor 1 transmits error information indicating that the movement detection unit 64 has detected the movement of the reference station 60 to an external management device or the like via a wireless communication network or other network line. You can also. At this time, the error information can be transmitted to the wireless communication terminal 30 from the external management device. As described above, even when the autonomous traveling of the tractor 1 is stopped based on the error status information from the reference station 60, the error information is transmitted to the wireless communication terminal 30, so that the wireless communication terminal 30 is similar to the above embodiment. The notification unit 33 can perform predetermined notification indicating that the reference station 60 has been moved.

(2) In the above embodiment, when the movement detector 64 detects the movement of the reference station 60, the control unit 23 of the tractor 1 cannot receive the correction information from the reference station 60 and cannot acquire the correction information. The autonomous traveling of the tractor 1 is stopped. For example, when the correction information from the reference station 60 is not received once, the autonomous traveling of the tractor 1 is stopped, or the correction information from the reference station 60 exceeds the set number of times. The autonomous traveling of the tractor 1 can be stopped by continuously disabling reception.

Further, the control unit 23 of the tractor 1 cannot receive the correction information from the reference station 60, so that the autonomous traveling of the tractor 1 is not stopped immediately, but, for example, only from the positioning satellite information acquired by itself, the tractor 1 , The autonomous traveling of the tractor 1 is once continued along the target traveling route according to the determined current position, and then the autonomous traveling of the tractor 1 is finally stopped. .

In this case, since the control unit 23 of the tractor 1 cannot receive the correction information from the reference station 60, the current position of the tractor 1 is obtained from only the positioning satellite information acquired by itself. The current position is shifted from the actual current position of the tractor 1. And since the state which cannot receive the correction information from the reference | standard station 60 is continued, the amount of position shifts becomes large gradually, and the position of the tractor 1 will leave | separate more than a set distance from the target driving | running route. Therefore, the control unit 23 of the tractor 1 can finally stop the autonomous traveling of the tractor 1 because the position of the tractor 1 is more than the set distance from the target traveling route.

(3) In the above embodiment, the reference point setting unit 66 compares the current position of the reference station 60 acquired based on the satellite positioning information with the position of the reference point in step # 5, and the position error is a predetermined threshold value. If the current position of the reference station 60 is set as a new reference point when it is outside, the reference point update request information is set for wireless communication before the current position of the reference station 60 is set as a new reference point. It is good also as transmitting to the radio | wireless communication apparatus 31 via the antenna 26, or transmitting directly to the radio | wireless communication apparatus 31. FIG. In this case, the wireless communication terminal 30 that has acquired the reference point update request information, for example, on the touch panel, the conventional position coordinates of the reference point (position coordinates before the movement of the reference station 60 is detected) and the new position coordinates of the reference station 60. And a selection screen for selecting whether or not to allow the change is displayed. When the operator or the like has selected permission to change the reference point, the reference point update permission information is transmitted to the reference station wireless communication device 61 or directly to the reference station wireless communication device 61 via the wireless communication antenna 26, and the reference station 60 Sets the current position of the reference station 60 as a new reference point based on the reference point update permission information. In addition, when the operator etc. has selected not to permit the change of the reference point, a reference point setting screen is displayed for allowing the operator to set the reference point, and when the reference point is set by the worker, etc., The reference point designation information is transmitted to the reference station wireless communication device 61 via the wireless communication antenna 26 or directly to the reference station wireless communication device 61. The reference station 60 is designated by an operator or the like based on the reference point update permission information. The set position is set as a new reference point.

(4) In the above embodiment, the wireless communication terminal 30 capable of instructing the autonomous traveling of the tractor 1 is provided. For example, at least a part of the functions of the wireless communication terminal 30 such as the traveling route calculation unit 32 is provided. It is also possible to provide the control unit 23 or an external control device or the like.

The present invention can be applied to an autonomous traveling system that autonomously travels a work vehicle along a target travel route while acquiring position information of the work vehicle.

1 Tractor (work vehicle)
23 Control part (autonomous driving control part)
30 Wireless communication terminal 60 Reference station 64 Movement detection unit 65 Transmission stop unit 66 Reference point setting unit

Claims

A reference station installed at a predetermined reference point and transmitting correction information based on the position information of the reference point and satellite positioning information;
A mobile station that is mounted on a work vehicle and calculates position information of the work vehicle based on the correction information and satellite positioning information transmitted from the reference station;
An autonomous traveling system comprising: an autonomous traveling control unit that autonomously travels the working vehicle along a predetermined traveling route using position information of the working vehicle calculated by the mobile station,
A movement detection unit for detecting movement of the reference station;
The autonomous traveling control unit stops autonomous traveling of the work vehicle when movement of the reference station is detected by the movement detecting unit.
The reference station has a transmission stop unit that stops transmission of the correction information when movement of the reference station is detected by the movement detection unit,
The autonomous traveling system according to claim 1, wherein the autonomous traveling control unit stops autonomous traveling of the work vehicle based on the fact that the mobile station cannot acquire the correction information from the reference station.
The transmission stop unit stops transmission of the correction information until a return operation is performed on the reference station, and after the return operation, the current position of the reference station specified based on satellite positioning information and the The autonomous traveling system according to claim 2, wherein the correction information transmission is not stopped if the position error is within a predetermined threshold value by comparing with the position of the reference point.
The reference station compares the current position of the reference station specified based on satellite positioning information with the position of the reference point after a return operation to the reference station, and the position error is outside a predetermined threshold A reference point setting unit for setting the current position of the reference station as a new reference point,
The autonomous transmission according to claim 2 or 3, wherein the transmission stop unit does not stop the transmission of the correction information when the current position of the reference station is set as a new reference point by the reference point setting unit. Traveling system.
A wireless communication terminal capable of instructing autonomous traveling of the work vehicle to the autonomous traveling control unit via a wireless communication network,
5. The wireless communication terminal according to claim 1, wherein when the movement detection unit detects movement of the reference station, the wireless communication terminal performs a predetermined notification indicating that the reference station has been moved. The autonomous traveling system according to item 1.