JP2001337724A - Automatic running machine and its running limit system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent terrorism aimed at an important facility by use of various kinds of automatic running machines before it happens. SOLUTION: GPS signal S5 is coded. Automatic running path data S1 for an automatic running machine 10 and data of off-limits area file 12 limiting automatic running are checked by an automatic running prohibit measure 43. If the data do not match, information 21 which decodes signal S5 permitting the running and the coded signal S5 are transmitted to an automatic running measure 14, and the information S21 is transmitted to DGPS Standard Bureau 44. Because the automatic running measure 14 and DGPS Standard Bureau 44 can convert the coded GPS signal S5 coded by the information S21 into a normal GPS signal, the automatic running machine 10 can acquire its accurate position data, and its automatic running becomes possible. By this system, running path for the automatic running machine 10 is limited in the area defined by the data of the off-limits area file 12.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a system for limiting a traveling area of an automatic traveling machine that automatically travels based on position data obtained by satellite navigation.

[0002]

2. Description of the Related Art Techniques have been developed for running an automatic traveling machine outdoors using navigation equipment such as an artificial satellite. Research on application of these to agricultural equipment, construction equipment, and the like is progressing. However, the automatic operation of the machine by an unmanned person may easily perform a terrorist attack aimed at an important facility using an unmanned vehicle equipped with a bomb.

[0003]

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and has been developed in view of the above-mentioned problems. The purpose of the present invention is to provide a method for prohibiting the use of a computer.

[0004]

According to a first aspect of the present invention, there is provided an automatic traveling machine which automatically travels based on position data obtained by satellite navigation, based on predetermined route data and the position data. Automatic traveling means for automatically traveling the automatic traveling machine, storage means for storing a prohibited area where traveling of the automatic traveling machine is prohibited, and operation of the automatic traveling means is stopped when predetermined route data enters the prohibited area. Determining means.

According to a second aspect of the present invention, there is provided a travel restriction system for an automatic traveling machine which automatically travels based on position data obtained by satellite navigation, wherein the automatic travel means automatically travels based on preset route data. An automatic traveling machine equipped with a device for constantly transmitting a signal that can be received within a predetermined range and a receiving device for receiving a signal from a facility, and receiving a specific signal from the automatic traveling machine to travel the traveling machine. Detecting means for detecting the state, and a facility having a transmitting device that determines whether to permit traveling of the automatic traveling machine based on the traveling state of the traveling machine detected by the detecting means, and transmits a permission signal, The automatic traveling machine further comprises means for permitting operation of the automatic traveling means while receiving the permission signal from the facility via a receiving device.

According to a third aspect of the present invention, there is provided a travel restriction system for an automatic traveling machine which automatically travels based on position data obtained by satellite navigation, wherein a GPS signal generating means for outputting a coded or encrypted GPS signal. And, based on predetermined route data and position data obtained based on a signal or data obtained by decoding the encoded GPS signal or decoding the encrypted GPS signal, An automatic traveling machine equipped with automatic traveling means for automatically traveling the automatic traveling machine, a communication device for transmitting the route data to the automatic traveling machine control station, and traveling by collating the route data with the data in the prohibited area. Driving prohibition means for judging prohibition, an automatic driving permission signal transmitted by the judgment of the driving prohibition means, and coded or encrypted GPS Communication means for transmitting decoding rules or encryption keys to the automatic driving machine and communication means for transmitting decoding rules or encryption keys for GPS signals to the DGPS reference station. It is characterized in that automatic driving is restricted.

According to a fourth aspect of the present invention, there is provided a travel restriction system for an automatic traveling machine that automatically travels based on position data obtained by satellite navigation, and outputs a GPS signal.
PS signal generating means, automatic traveling means for automatically traveling the automatic traveling machine based on preset route data and position data, and a communication device for transmitting the route data to an automatic traveling machine control station. Automatic driving machine and the above GP
The GPS signal output from the S signal generating means is received, and the reference data for the automatic driving machine, which encodes or encrypts the position error correction signal and transmits the signal to the automatic driving machine, is compared with the route data and the data of the prohibited area. And a rule or an encryption key for decoding a signal transmitted by the determination of the above-mentioned travel inhibition means and a coded or encrypted signal from a reference station dedicated to the automatic traveling machine. An automatic traveling machine control station having communication means for transmitting to the automatic traveling machine, wherein the automatic traveling machine has a GPS output from the GPS signal generating means.
The apparatus further comprises means for obtaining position data by decoding the signal and the coded or encrypted error correction signal from the reference station dedicated to the automatic traveling machine using a cryptographic key.

[0008]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a view for explaining an automatic traveling machine according to a first embodiment of the present invention. As shown in Figure 1, GPS
Route data of the automatic traveling machine is provided to the automatic traveling machine 10 which automatically obtains position data by the signal and automatically travels by the automatic traveling means 14.
An input device 11 for inputting S1 is provided. The route data S1 input by the input device 11 is
13 and to the automatic traveling means 14. In the determination device 13, the route data S1 and the data S2 of the file 12 storing the prohibited area are compared. A signal S3 indicating whether there is a matching part as a result of the collation is transmitted to the automatic traveling means 14 and the display device 15. The drive unit 16 has an automatic driving function 14
It operates according to the signal from.

Hereinafter, the operation of the present invention configured as described above will be described with reference to FIG.

The automatic traveling machine 10 inputs path data of the automatic traveling machine (for example, a path for automatically cultivating) through an input device 11. The input of this route may be input from the outside, or a storage device may be provided in the automatic traveling machine in advance and stored.

The route data S1 input by the input device 11 is transmitted to the determination device 13 and the automatic traveling means 14. The determination device 13 compares the transmitted route data S1 with the data S2 of the prohibited area file 12 storing the position data of important facilities (for example, government facilities and embassies). If there is no matching data in the data collation, a signal giving permission to travel is transmitted to the automatic traveling means 14 and the display device 15 if there is a matching part, and a signal for prohibiting traveling is transmitted.

Since the automatic traveling means 14 has already inputted the route data S1 for automatic traveling of the automatic traveling machine 10, if the automatic traveling permission signal is transmitted from the judging device 13, the automatic traveling means 14 Signal S3 is transmitted to the vehicle to enable automatic traveling. When a signal for prohibiting automatic traveling is transmitted from the determination device 13, the automatic traveling means 14 does not transmit a signal to the driving device 16, so that automatic traveling is prohibited.

It is also possible to provide an input device (for example, a start button) on the display device 15 and to input the result to the input device after confirming the result of the display so that the automatic traveling means 14 operates.

As described above, according to the first embodiment, the automatic traveling of the automatic traveling machine can be prohibited in the set prohibited area, for example, the important facility of the government. Etc. can be prevented.

FIG. 2 is a view for explaining a travel restriction system for an automatic traveling machine according to a second embodiment of the present invention. Figure
As shown in FIG. 2, an automatic traveling machine 10 that obtains position data from a GPS signal and automatically travels by an automatic traveling means 14 is provided with an input device 11 for inputting travel route data of the automatic traveling machine. The input route data S1 is transmitted to the automatic traveling means 14. The automatic traveling means 14 has a function of automatically traveling the automatic traveling machine 10 according to the designated route. The automatic traveling machine 10 includes a transmitting device 21 that transmits a specific signal S2, a receiving device 22 that receives a signal S3 of access prohibition from the facility and determines whether to prohibit the approach of the automatic traveling machine 10 and includes After the determination, a signal S4 is transmitted to the display device 15 and the automatic traveling means 14. The driving device 16 operates according to a signal from the automatic traveling function 14.

On the other hand, the facility 23 has a receiving device 24 for receiving a signal S2 from a transmitting device 21 provided in the automatic traveling machine 10, and a detecting device for detecting a distance and a relative speed with the automatic traveling machine based on the signal S2. 25, a device 26 is provided for determining whether to request the prohibition of the approach of the automatic traveling machine 10 and generating a signal S3 for prohibiting the approach of the automatic traveling machine 10.

Hereinafter, the operation of the present invention configured as described above will be described with reference to FIG.

The route data S1 input by the input device 11
(For example, a path for automatically cultivating) is transmitted to the automatic traveling means 14 and stored. Then, the signal S5 is transmitted from the automatic traveling means 14 to the driving device 16, and the automatic traveling machine 10 is automatically driven. Since the automatic traveling device 10 is provided with the transmission device 21 that constantly transmits the specific signal S2, the automatic traveling machine 10 is automatically traveling while constantly transmitting the specific signal S2. As this specific signal, a signal carried on a weak radio wave that can be received when approaching a radius of about 100 m of the automatic traveling machine 10 or a signal based on infrared rays is used.

On the other hand, a specific facility 23 (for example, an important government facility) for which the approach of the automatic traveling machine 10 is to be prohibited is provided with a receiving device 24 for receiving a specific signal S2 transmitted from the automatic traveling machine 10. Have been. By this signal S2, facility 23
Can know the approach of the automatic traveling machine 10. Using the received signal S2, the detection device 25 calculates the positional relationship and the relative speed between the facility 23 and the automatic traveling machine 10, and transmits the calculation result to the transmission device 26. The transmission device 26 transmits a signal S3 for prohibiting the approach of the automatic traveling machine 10 when the approach prohibition is determined by the approach prohibition determination function that determines the approach prohibition when the value reaches a specified value.

The signal S3 from the transmitting device 26 is transmitted to the automatic traveling machine 10
At the receiving device 22. The receiving device 22 is an automatic traveling machine 10
To prohibit access to facility 23,
A decision is made to change the route data S1 or to stop the automatic driving. This determination result is transmitted to the automatic traveling means 14 and the display device 15 as a signal S4. When the automatic traveling means 14 receives the signal S4, it transmits a signal S5 to the drive device 16. The driving device 16 is controlled by the signal S5.

It should be noted that the automatic traveling machine 10 is provided with an input device for inputting path data of the automatic traveling machine (for example, a path for automatically cultivating).
When the route data is input by the user, the route data may be input from the outside, or a storage device may be provided in the automatic traveling machine in advance and stored.

Further, it is also possible to provide an input device on the display device (for example, a start button) and confirm the result of the display and then input it to the input device so that the automatic traveling means 14 operates.

As described above, according to the second embodiment, the automatic driving of the automatic driving machine can be prohibited in a prohibited area, for example, in an important facility of the government. can do.

FIG. 3 is a diagram for explaining a travel restriction system for an automatic traveling machine according to a third embodiment of the present invention. As shown in FIG. 3, an automatic traveling machine 10 that automatically travels by obtaining position data by an automatic traveling means 14 based on a GPS signal is provided with an input device 11 for inputting route data of the automatic traveling machine. The input route data S1 is transmitted to the automatic traveling means 14. The automatic traveling means 14 is provided with means for automatically traveling the automatic traveling machine 10 according to the designated route. The driving device 16 is operated by a signal S4 from the automatic traveling means 14. A receiving device 31 having a function of constantly receiving a specific signal S2, a determining device 32 for determining prohibition of automatic traveling, and a display device 15 for displaying the determination result are shown.

The transmitting device 33 is a fixed transmitting device that transmits a signal S2 corresponding to a specific automatic traveling machine. The transmitting device 33 may have one transmitting device for one automatic traveling machine, or may have one transmitting device for a plurality of automatic traveling machines.

Hereinafter, the operation of the present invention configured as described above will be described with reference to FIG.

The automatic traveling machine 10 inputs the route data S1 of the automatic traveling machine (for example, a path for automatically cultivating) through the input device 11. The route data S1 input by the input device 11 in this way is transmitted to the automatic traveling means 14. The automatic traveling means 14 transmits a signal S4 to the driving device 16. This signal causes the automatic traveling machine 10 to automatically travel. The automatic traveling machine 10 always receives the specific signal S2 from the fixed transmission device 33.
It is receiving at. The determining device 32 calculates the distance between the transmitting device 33 and the automatic traveling machine 10 based on the strength of the signal S2 received by the receiving device 31 (for example, when the distance from the transmitting device is 50
When the distance is 0 m or more), a signal S3 for prohibiting the change of the traveling route and the automatic traveling is transmitted to the automatic traveling means 14 and the display device 15. The automatic traveling means 14 sends a signal to the driving device 16 based on the signal S3.
By transmitting S4, the automatic traveling of the automatic traveling machine 10 is prohibited or the route of the automatic traveling is changed.

The input of the route data S1 may be input from the outside, or a storage device may be provided in the automatic traveling machine in advance and stored.

It is also possible to provide an input device (for example, a start button) on the display device, and to operate the automatic traveling means 14 by inputting the input device after confirming the result of the display.

As described above, according to the third embodiment, the automatic traveling of the automatic traveling machine can be limited within a predetermined range in which the signal of the fixed transmitting device is transmitted, so that an important facility is aimed at. Terrorist acts, etc. can be prevented.

FIG. 4 is a view for explaining a travel restriction system for an automatic traveling machine according to a fourth embodiment of the present invention. As shown in FIG. 4, the automatic traveling machine 10 that automatically travels based on the position data obtained by satellite navigation includes:
An automatic traveling machine control station having a GPS receiver 48 for receiving a GPS signal from a GPS (Global Positioning System) satellite 46, an input device 11 for inputting route data of the automatic traveling machine 10, and a traveling prohibition means 43 for the automatic traveling machine. Communication device 4 to 42
1, an automatic traveling means 14 and a driving device 16 which is operated by a signal from the automatic traveling means 14 are provided. Automatic driving machine control station
Reference numeral 42 denotes a traveling prohibition unit 43 for collating data with the route data S1 and the prohibited area file 12, the automatic traveling unit 14 and the DGPS (Di
fferential Global Positioning System) Reference station 44
And a communication means to the GPS control station 45. The automatic traveling machine control station 42 outputs a signal S3 indicating an instruction of a coding rule to the GPS control station 45. PS control station 45
When receiving the signal S3, the GPS satellite 46 transmits a signal S4 for encoding the GPS signal S5.

Hereinafter, the operation of the present invention configured as described above will be described with reference to FIG.

The automatic traveling machine control station 42 has a GPS control station 45
A signal S3 that always encodes the signal according to a certain rule is transmitted. When the GPS control station 45 receives this signal S3, the GPS satellite 46
A signal S4 for encoding the GPS signal S5 is transmitted. Since this operation is always performed, the GPS signal S5 is always coded.

The route data S1 of the automatic traveling machine (for example, a path for automatically cultivating) is input to the automatic traveling machine 10 by the input device 11. Route data input by the input device 11
S1 is stored in the automatic traveling unit 14 and transmitted to the automatic traveling machine control station 42 via the communication device 41. This communication device may be performed via the Internet using a PC (personal computer) and / or a mobile phone, for example. Then, in the automatic traveling machine control station 42, the traveling prohibition means 43 checks the route data S1 against the prohibited area file 12. As a result, if the route data S1 of the automatic traveling machine 10 does not match the data of the prohibited area file 12, the traveling prohibition unit 43 determines that the automatic traveling is permitted, and transmits a signal S20 for permitting the automatic traveling to the automatic traveling unit 14. . If the route data S1 matches the data in the prohibited area file 12, the driving prohibition means 43 determines that automatic driving is not permitted. For this reason, the automatic traveling machine 10
The automatic driving of is prohibited. In addition, automatic driving machine control station
42 encodes the GPS signal S5 from the GPS satellite 46 through the GPS control station 45, so that the encoded GPS signal S5
Is transmitted to the automatic traveling means 14. The autonomous driving means 14 uses the G encoded by the signal S21.
Decode PS signal S5 to normal GPS signal. Thereby, the automatic traveling means 14 can obtain a normal GPS signal. At the same time, the automatic driving machine control station 42 also sends the GPS signal S5 to the DGPS reference station 44.
Is transmitted to decode the information S21. DGPS reference station 4
4 decodes the signal S5 from the GPS satellite 46 using the information S21. The position error correction information S6 as a normal position error correction signal obtained as a result is transmitted from the DGPS reference station 44 to the automatic traveling means 14.

The automatic driving means 14 receives a signal S5 from the GPS satellite 46.
And correct position error correction information S6 can be obtained from the DGPS reference station 44, so that accurate position data can be obtained. Then, the automatic traveling machine 10 automatically travels on the route where a signal is transmitted from the automatic traveling means 14 to the driving device 16 and input.

The route data S1 may be inputted from the outside, or a storage device may be provided in the automatic traveling machine 10 in advance and stored.

Further, by changing the encoding method by the automatic traveling machine control station 42 in a short time (for example, 1 hour or 10 minutes), it becomes possible to make the decoding of the code more difficult. . The coding method may be scrambling used in satellite broadcasting, or a method such as PGP used in Internet mail.

In the embodiment described above, the GPS satellite 46 is used.
The GPS signal output from is coded.
It may be encrypted. As described above, when the GPS signal is encrypted, the automatic traveling machine control station 42 transmits an encryption key for decrypting the encrypted GPS signal to the automatic traveling machine 10 and the DGPS reference station as information for decoding. Just do it.

As described above, according to the fourth embodiment, since the signal from the GPS satellite is coded through the GPS control station at the instruction of the automatic driving machine control station, the permission of the automatic driving machine control station is obtained. No automatic driving of automatic driving machines is prohibited,
Terrorist acts targeting important facilities can be prevented.

FIG. 5 is a diagram for explaining a travel restriction system for an automatic traveling machine according to a fifth embodiment of the present invention. As shown in FIG. 5, an input device 11 for inputting route data of the automatic traveling machine to the automatic traveling machine 10 that automatically travels based on the position data obtained by the satellite navigation, Communication device 41, automatic traveling means 14,
A driving device 16 is provided which operates by a signal S7 from the automatic traveling means 14. The automatic machine control station 42 includes a travel prohibition unit 43 that compares the route data transmitted by the communication device 41 with the data of the prohibited area file 12, the automatic travel unit 14, and the DGPS reference station.
Has communication means to 44. Instruction S from GPS control station 45
4 the GPS signal S5 is transmitted from the GPS satellite 46, and the GPS signal S5 is
The signal is received by the S receiver 48 and a DGPS reference station 51 dedicated to the automatic traveling machine (this reference station may be a reference station of real-time kinematics). The position error correction information S6 transmitted from the DGPS reference station 51 to the automatic traveling means 14 based on the signal S3 from the automatic traveling machine control station 42 is always coded.

Hereinafter, the operation of the present invention configured as described above will be described with reference to FIG.

From the GPS satellite 46 in the instruction S4 from the GPS control station 45
GPS signal S5 is DGP dedicated to automatic traveling machine 10 and automatic traveling machine
It has been transmitted to the S reference station 51. In response to the instruction S3 from the automatic traveling machine control station 42, the DGPS reference station 51 dedicated to the automatic traveling machine always outputs the coded position error correction information S6 to the automatic traveling machine 10.

The travel route data of the automatic traveling machine 10 (for example, a route for automatically cultivating) is input by the input device 11. The route data S1 is stored in the automatic traveling unit 14 and transmitted to the automatic traveling machine control station 42 via the communication device 41.
This communication device is, for example, a PC (personal computer)
And / or via the Internet using a mobile phone. Then, the traveling prohibition means 43 provided in the automatic traveling machine control station 42 stores the route data S1 and the prohibited area file 12
To the data of As a result, if the route data S1 of the automatic traveling machine 10 does not match the data of the traveling prohibited area file 12, the traveling inhibiting means 43 determines that the automatic traveling is permitted, and the automatic traveling machine control station 42 outputs the signal S20 for permitting the automatic traveling. It is transmitted to the automatic traveling machine 10. Route data S1 is prohibited area file
If the data coincides with the data of 12, the travel prohibition means 43 determines that the automatic travel is not permitted. Therefore, automatic traveling of the automatic traveling machine 10 is prohibited.

The automatic traveling machine control station 42 transmits to the automatic traveling machine 10 a signal S20 for permitting automatic traveling and information S21 for decoding error and correction information S6. Therefore, the automatic traveling machine 10 can decode the position error correction information S6 transmitted from the DGPS reference station 51 dedicated to the automatic traveling machine into a normal signal. The automatic traveling means 14 includes the route data S1,
Since the GPS signal S5 and the normal position error correction information can be obtained, automatic traveling can be performed. Next, the signal S7 is transmitted from the automatic traveling means 14 to the drive device 16, and the automatic traveling machine 10 can automatically travel.

It should be noted that the automatic traveling machine control station 42 transmits a DGP dedicated to the automatic traveling machine every short time (for example, 10 minutes or 1 hour).
It is also possible to change the coding rule to the S reference station 51 and transmit information for decoding to the automatic traveling machine 10 every time the coding rule is changed. In this way, even when the route data S1 of the automatic traveling machine 10 is falsely input and the decoding information is obtained, the automatic traveling machine 10 may have a different route or location from the scheduled route or the route or location notified to the control station. If the automatic driving machine control station 42 stops transmitting the decoding method to the automatic driving machine 10 when the automatic driving is performed at the place, the automatic driving machine 10 receives the information of decoding the code to be changed next. Since it cannot be obtained, automatic driving is prohibited. Furthermore, if the coding method differs depending on the area, the automatic traveling of the automatic traveling machine 10 in the area where the encoding method is different is prohibited even if the decoding information is obtained by falsifying the route.

The signal S3 from the automatic traveling machine control station 42
Thus, the error and the correction information S6 transmitted from the DGPS reference station 51 to the automatic traveling means 14 are always coded, but may be encrypted. In this case, when the automatic traveling machine control station 42 determines that automatic traveling is permitted, the automatic traveling machine control station 42 decrypts the encrypted position error correction information S6.
It should be transmitted to.

Further, the input of the route data S1 may be input from the outside, or a storage device may be provided in the automatic traveling machine in advance and stored.

As described above, according to the fifth embodiment, the error and correction information transmitted from the DGPS reference station dedicated to the automatic traveling machine at the instruction of the automatic traveling machine control station are coded. Automatic driving of the automatic driving machine without permission of the traffic control station is prohibited, and terrorism or the like aimed at important facilities can be prevented.

In each of the above-described embodiments, a navigation satellite or a GP
Although it is described that an S signal is received, for the purpose of improving navigation accuracy and position determination accuracy, sensors such as an INS (inertial navigation device) and various gyros are replaced with a navigation filter (numerical value) represented by a Kalman filter. (Method of processing). Further, the satellite to be used is not limited to the GPS in the United States, and a system for navigation in another country may be used, or these may be used together for the purpose of improving the position determination accuracy and the like.

[0051]

As described above in detail, according to the present invention, by restricting the automatic traveling of the automatic traveling machine such as the agricultural machine which travels automatically based on the position data obtained by the satellite navigation, the important facilities can be controlled. For example, driving for the purpose of terrorist acts can be prohibited.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of an automatic traveling machine according to a first embodiment of the present invention.

FIG. 2 is a diagram showing a configuration of a travel restriction system for an automatic traveling machine according to a second embodiment of the present invention.

FIG. 3 is a diagram showing a configuration of a travel restriction system for an automatic traveling machine according to a third embodiment of the present invention.

FIG. 4 is a diagram showing a configuration of a travel restriction system for an automatic traveling machine according to a fourth embodiment of the present invention.

FIG. 5 is a diagram showing a configuration of a travel restriction system for an automatic traveling machine according to a fifth embodiment of the present invention.

[Explanation of symbols]

10 …… Automatic driving machine ， 12 …… Prohibited area file ， 13 ……
Judgment device for the list of routes and prohibited areas, 42 ... Automatic driving machine control station, 44 ... DGPS reference station, 45 ... GPS management station, 46
…… GPS satellite, 51 …… A base station dedicated to automatic driving machines.

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Claims (4)

[Claims] 1. An automatic traveling machine that automatically travels based on position data obtained by satellite navigation, comprising: automatic traveling means for automatically traveling the automatic traveling machine based on route data set in advance and the position data. ,
Automatic means comprising: storage means for storing a prohibited area for prohibiting traveling of the automatic traveling machine; and determining means for stopping operation of the automatic traveling means when preset route data enters the prohibited area. Traveling machinery. 2. A travel restriction system for an automatic traveling machine that automatically travels based on position data obtained by satellite navigation, comprising: an automatic traveling means that automatically travels based on preset route data; An automatic traveling machine having a device that constantly transmits receivable signals and a receiving device that receives a signal from a facility; and detecting means for receiving a specific signal from the automatic traveling machine and detecting a traveling state of the traveling machine. And a facility provided with a transmitting device that determines whether to permit the traveling of the automatic traveling machine based on the traveling state of the traveling machine detected by the detection means, and transmits a permission signal. Running means for permitting the operation of the automatic driving means while receiving the permission signal from the facility through the device; system. 3. A travel restriction system for an automatic traveling machine that travels automatically based on position data obtained by satellite navigation, wherein a GPS signal generating means for outputting a coded or encrypted GPS signal is provided. Automatic traveling of the automatic traveling machine based on route data and position data obtained based on a signal or data obtained by decoding the encoded GPS signal or decoding an encrypted GPS signal. An automatic traveling machine having an automatic traveling means for causing the vehicle to travel, and a communication device for transmitting the route data to an automatic traveling machine control station; and traveling for determining travel prohibition by comparing the route data with data in a prohibited area. Prohibition means, and rules for decoding the signal of automatic driving permission and the coded or encrypted GPS signal transmitted by the judgment of the driving prohibition means. The automatic travel of the automatic travel machine is controlled by an automatic travel machine control station having communication means for transmitting the encryption key to the automatic traveling machine and communication means for transmitting the GPS signal decoding rule or the encryption key to the DGPS reference station. A travel restriction system for the automatic traveling machine, wherein the travel restriction is performed. 4. A travel restriction system for an automatic traveling machine that automatically travels based on position data obtained by satellite navigation, comprising: a GPS signal generating means for outputting a GPS signal; and predetermined route data and position data. Automatic traveling means for automatically traveling the automatic traveling machine based on the automatic traveling machine having a communication device for transmitting the route data to the automatic traveling machine control station, and a GPS signal output from the GPS signal generating means. Receive,
A reference station dedicated to the automatic traveling machine that encodes or encrypts the position error correction signal and transmits the automatic traveling machine to the automatic traveling machine, and traveling inhibition means for determining traveling inhibition by comparing the route data with the data of the prohibited area, Communication means for transmitting a signal transmitted by the determination of the travel prohibiting means and a coded or encrypted signal from a reference station dedicated to the automatic traveling machine or a communication means for transmitting an encryption key to the automatic traveling machine. A machine control station, wherein the automatic driving machine decodes a GPS signal output from the GPS signal generating means and a coded or encrypted error correction signal from a reference station dedicated to the automatic driving machine, or decodes or decodes the error correction signal with an encryption key. A travel restriction system for an automatic traveling machine, further comprising means for obtaining position data by decoding. .