JP2011178536A - Working position determination system of work vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a working position determination system of a work vehicle capable of accurately specifying a place where the work vehicle has performed a work. <P>SOLUTION: This working position determination system of a work vehicle includes a position information acquisition device (GPS) for acquiring the position information indicating the present position of the work vehicle having a working device on the deck, a work position information storage for storing a plurality of working position information including the positional range of the working position, and a calculator for selecting one working position based on the position information of the work vehicle and the working position information of the plurality of working position information storage. The positional range is stored differently for each working position. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

The present invention relates to a work position determination system for specifying a work position of a work vehicle having a work device on a loading platform.

  2. Description of the Related Art Conventionally, a work vehicle having a working device on a loading platform performs various operations at various locations according to requests from various customers, and it is necessary to identify which customer is performing the work. For example, taking a garbage collection vehicle as an example, it is equipped with a garbage loading device as a working device, and once in a collection work, it goes around collection places such as multiple shops, offices, and garbage stations, and the storage box becomes full Dust collected at the disposal site is discharged. At this time, it is necessary to identify and memorize at which collection place the garbage is collected. Therefore, by identifying the position of the garbage collection vehicle using a global positioning system (hereinafter referred to as GPS) in the garbage collection vehicle and comparing it with the location information of the collection location stored in advance, It is designed to identify the collection location where the garbage was collected.

JP 2004-91150 A

  By the way, depending on traffic conditions, even if the vehicle is at the same collection location, the position where the vehicle stops is different each time. Therefore, the location information of the garbage collection vehicle does not match the location information of the collection location, and the collection location may not be specified. Therefore, a range (position range) that can be determined as the same position with respect to the collection location is set, and when the position information of the garbage collection vehicle is within the position range, it is determined that the collection location is the collection location. However, since the position range has a uniform shape, it cannot be set in consideration of the surrounding terrain shape for each collection place, and depending on the collection place, the vehicle may stop outside the position range.

Accordingly, an object of the present invention is to provide a position determination system that can improve the accuracy of specifying a work position.

In order to achieve the above object, the work position determination system for a work vehicle according to claim 1 includes position information acquisition means for acquiring position information indicating a current position of the work vehicle including a work device on a loading platform, and a position of the work position. Work position information storage means for storing a plurality of work position information including a range; and arithmetic means for selecting one work position based on the work vehicle position information and the work position information of the plurality of work position information storage means; The position range is stored in a different shape for each work position.
As a result, the position range can be saved in different shapes and arbitrary shapes for each work position, so the position range can be saved according to the road conditions around each work position, the layout of buildings, etc. Compared to the case where the position range is determined uniformly, the position range is often within the range, so that the accuracy of specifying the work position is improved.

  The work position determination system for a work vehicle according to claim 2, wherein a position range is designated by displaying a map on a display unit and inputting the position range on the map, and a position range designated by the position range designation means. Is further provided with a work position information storing means for storing. Thereby, the position range according to the road condition for each work position, the layout of the building, etc. can be easily specified.

  The work position determination system for a work vehicle according to claim 3 is characterized in that the work position information storage means warns when the position range overlaps with the position range of the work position information stored in advance at the time of storage. Thereby, when it overlaps with the position range of the work position information stored in advance, the warning is displayed, so that it is possible to prevent the position range from being stored redundantly.

  5. The work position determination system for a work vehicle according to claim 4, wherein when the position range overlaps with the position range of the work position information stored in advance when the position range is stored, the overlap range is stored in the overlap range storage means. The information is stored, and the calculation unit further acquires information on the overlapping range from the overlapping range storing unit, and notifies when the position of the work vehicle is within the overlapping range. Thereby, the operator can easily know that the work position cannot be immediately specified.

  6. The work position determination system for a work vehicle according to claim 5, further comprising route information storage means for storing route order information that circulates each work position, and when the operation means determines that it is within an overlapping range, Further, route order information is further acquired from the information storage means, and a work position is specified based on the route order information. As a result, the work is normally performed in the order of the route designated in advance, so that the work position can be easily identified.

  Since the position range can be saved in different shapes and arbitrary shapes for each work position, the position can be saved according to the road conditions around each work position, the layout of buildings, etc. Compared to the case where the range is determined, it is often within the position range, so that the accuracy of specifying the work position is improved.

It is sectional drawing which shows a working vehicle (garbage collection vehicle). It is operation | movement explanatory drawing of the pushing plate in a refuse collection vehicle, a push cylinder, and a press cylinder. It is a hydraulic circuit diagram regarding the push cylinder and the press cylinder. It is a rear view of a garbage truck. It is a principal part enlarged view which shows the attachment structure of a measuring device. It is a schematic diagram of a garbage truck. It is a block diagram which shows the structure of the control apparatus in a garbage collection vehicle. 1 is a block diagram showing an entire work position determination system for a work vehicle according to the present invention. . It is a display of the display 303 in designation | designated of a position range. It is a display of the display 303 in designation | designated of a position range. This is a display on the display 303 when it is determined that there is an overlapping position in the designation of the position range.

FIG. 1 shows a cross section of a garbage truck G equipped with a measuring instrument as a work vehicle. The garbage collection vehicle G described in the present embodiment circulates a plurality of customers as a work place and collects garbage, and collects a collection fee from each customer according to the weight of the collected garbage.
The garbage collection vehicle G includes a dust storage box B mounted via a weighing device 1 provided on the vehicle body frame G1. The garbage storage box B includes a main body storage box 2 supported by the weighing device 1, an auxiliary storage box 3 connected to the vehicle rear side of the main body storage box 2, and an auxiliary storage box provided in the auxiliary storage box 3. 3 is provided with a loading device 4 (working device) for loading the dust put into the main body storage box 2. The weighing device 1 includes a pair of left and right front load cells 11 provided on the front side of the vehicle body frame G1, and a pair of left and right rear load cells 12 provided on the rear portion of the vehicle body frame G1. At the rear part of the auxiliary storage box 3, an insertion port 3 a into which dust is introduced is provided, and a cover 3 b that opens and closes the insertion port 3 a is provided.

  The loading device 4 includes a slider 41 provided in the auxiliary storage box 3 so as to be movable obliquely in the vertical direction, and a pushing plate 43 provided on the slider 41 via a pin 43a. The slider 41, together with the push-in plate 43, rises obliquely upward by the extending operation of the push cylinder 5, and descends obliquely downward by the contracting operation. Further, the pushing plate 43 rotates clockwise around the pin 43a by the extension operation of the press cylinder 6, and rotates counterclockwise by the contraction operation.

  Proximity switches LS1, LS2, LS3, and LS4 are provided in the vicinity of the push cylinder 5 and the press cylinder 6 to detect that the expansion and contraction operations have reached the extended end and the contracted end, respectively.

  FIG. 3 shows a hydraulic circuit of the garbage truck G. The hydraulic circuit includes a tank 71, a hydraulic pump 72, a back pressure valve 73, a push cylinder solenoid valve 74a, a press cylinder solenoid valve 74b, a relief valve 75a, 75b, a pressure reducing valve 76, and check valves 77a, 77b, 77c, 77d. The filters 78a and 78b are connected as shown in the figure. When the pushing plate 43 is stopped at the original position (FIG. 2A), the cylinders 5 and 6 are in the extended state, and the electromagnetic valves 74a and 74b are in the neutral position.

  FIG. 4 is a view of the garbage collection vehicle G as seen from the rear of the vehicle. In FIG. 4, switch boxes SB <b> 1 and SB <b> 2 are provided at the rear portion of the left side wall 3 c of the auxiliary storage box 3. An operation selection switch 91 for outputting an operation command for selecting either “continuous cycle” or “single cycle” operation mode as the operation of the pushing plate 43 is provided on the side surface of the switch box SB1, and each of the above-described operation selection switches 91 is provided on the front surface. A start switch 92 for outputting an operation command for starting the operation in the operation mode and a stop switch 93 as a stop operation means for outputting an operation command for stopping the continuous cycle operation at the pushing end position are provided. ing.

  The switch box SB2 has a weighing switch 94 as a weighing operation unit for outputting an operation command for weighing by the weighing device 1, and a reset for outputting an operation command for resetting the front load cell 11 and the rear load cell 12. A switch 95 and a display unit 96 for displaying a weight value measured by the front and rear load cells are provided.

  FIG. 5 shows a mounting structure of the front load cell 11 and the rear load cell 12. In FIG. 6, the front load cell 11 and the rear load cell 12 are fixed to the vehicle body frame G <b> 1 via a pedestal portion 82 with bolts 81 with the axial direction being horizontal. Small diameter portions 11 a and 12 a which are free ends of the front load cell 11 and the rear load cell 12 are attached to a bracket 84 fixed to the main beam 2 a via a spherical bearing 83. Thereby, the front load cell 11 and the rear load cell 12 are supported by the vehicle body frame G1 in a cantilever state (cantilever state), and the load of the dust container box B acting in the radial direction (the vehicle vertical direction) on the free end side. As a result, a slight bending deformation occurs, and a response load signal (voltage value corresponding to the load) is output from the cables 11b and 12b.

  FIG. 6 is a diagram schematically showing FIG. Between the vehicle body frame G1 and the main girder 2a fixed to the bottom surface of the main body storage box 2, a weighing device 1 that supports the dust storage box B is provided. The vehicle body frame G1 includes a pair of left and right frames extending in the vehicle front-rear direction. The front load cell 11 and the rear load cell 12 are beam type beam measuring devices. Thereby, the measuring apparatus 1 can measure the weight of the dust storage box B and the stored dust D. The dust storage box B does not only indicate the main body storage box 2, the auxiliary storage box 3, and the loading device 4, but the switch boxes SB1 and SB2 and a tool box provided in the dust storage box B if necessary (not shown). And the like, which are indirectly supported by the weighing device by being provided in the dust container B. Further, the front load cell 11 and the rear load cell 12 are disposed in the main body storage box 2 by a dust storage box and a dust D stored in the dust storage box B (the dust D1 charged in the auxiliary storage box 3 and the loading device 4). The total weight of the pressed dust D2) is weighed.

The system according to the present invention will be described with reference to FIGS.
FIG. 7 is a block diagram showing a control configuration of the garbage truck G. The control device 100 is a part of a PLC (programmable logic controller) and includes a CPU 101, a storage unit 102, and the like. The outputs of the first to fourth proximity switches LS1 to LS4 are input to the control device 100. In addition, operation commands for the operation selection switch 91, the start switch 92, and the stop switch 93 of the switch box SB1, and the operation commands for the weighing switch 94 and the reset switch 95 of the switch box SB2 are input to the control device 100. The solenoids 74 a 1, 74 a 2, 74 b 1, 74 b 2 of the push cylinder solenoid valve 74 a and the press cylinder solenoid valve 74 b are excited by the control device 100. Outputs of the front load cell 11 and the rear load cell 12 are input to the control device 100.

  The control device 100 includes a storage unit 102 that stores therein weight data measured by the front load cell 11 and the rear load cell 12. The storage unit 102 includes a storage box weight storage unit that stores the weight value of the dust storage box B in a state where the dust D is not stored, a dust weight storage unit that stores the weight value of the stored dust D, and a weighing It functions as an operation storage means for storing whether or not an operation has been performed on the switch. On the display unit 96 of the switch box SB2, the weight value stored in the storage unit 102 of the control device 100 (the weight value of the housed dust D) is displayed by the control device. In addition, the weight value of the waste container B is set to the front and rear load cells by operating a storage switch (not shown) in a state in which the dust D is not stored (for example, the collection work is completed and the discharge work is completed in the garbage disposal site). The weight value is measured and stored in the storage box weight storage means of the storage unit 102.

The cellular phone M includes a key switch 201, a communication unit 202, a display 203, a GPS receiver 204 as a position information acquisition unit, a CPU 205, and a storage unit 206. An operation command for the key switch 201 is input to the CPU 205, and various information such as position information, customer information (work position information), and dust weight values are displayed on the display 203 so that the operator can confirm the information. . The GPS receiver 204 receives current position information (longitude / latitude information) by communicating with the GPS satellite 501. The received position information is input to the CPU 205. The CPU 205 performs the function of a calculation means for selecting a customer based on the position information of the garbage truck and the customer information. The storage unit 206 functions as customer information storage means, route information storage means, and weight value storage means.
The control device 100 further includes a communication unit 103 and can transmit and receive data to and from the communication unit 202 of the mobile phone M. The communication unit 202 of the mobile phone M can be connected to the Internet and can send and receive data. Further, the key switch 201 uses the data transmission / reception function between the communication unit 202 of the mobile phone and the communication unit 103 of the garbage collection vehicle to give the same instruction to the switch 100 of the switch box to the control device 100 of the garbage collection vehicle. Can be sent.

  FIG. 8 is a block diagram showing the entire work position determination system for a work vehicle according to the present invention. In addition to the garbage collection vehicle G and the mobile phone M, an office personal computer 300, a customer personal computer 502, and a customer mobile phone 503 connected via the Internet i are provided. The office personal computer 300 includes a keyboard 301 and a mouse 302 as input devices, a display 303 as an output device, and a main body 304 having a hard disk and a memory that function as storage means. The mobile phone M, the office personal computer 300, the customer personal computer 502, and the customer mobile phone 503 can transmit and receive information through the Internet i.

Next, a procedure for storing customer information will be described with reference to FIGS. 9 and 10 show displays on the display 303 when specifying a position range, and FIG. 11 shows displays on the display 303 when it is determined that there are overlapping positions in specifying a position range.
The customer information includes a customer name, an address, a telephone number, a person in charge, an e-mail address, a slip printing necessity check, and a position range, and is stored in association with each other. Note that the above information may be added as appropriate.

  First, the operator inputs customer information using the office personal computer 300. A customer name, an address, a telephone number, a person in charge, an e-mail address, a slip printing necessity check, and an e-mail transmission necessity check are input using a keyboard 301 and a mouse 302, and a map around the customer is input from the input address. Display (FIG. 9). At this time, the mark corresponding to the customer address is displayed (601 in FIG. 9). Then, the worker designates a position range on the map displayed on the display 303 by using the keyboard 301 and the mouse 302. Specifically, the A store 601 designated this time faces the main street 602, and when the main street 602 is congested, the garbage collection vehicle G cannot be stopped in front of the A store 601 to work. There is. Therefore, the position range is designated along the main street 602 over several tens of meters before and after the A store 601. Further, since there are cases where the car cannot stop on the main street 602, the street 603 on the west side of the A store 601 is designated as the position range. When the designation of the position range is completed, the determination button is clicked to confirm the position range and save it in the hard disk in the main body 304 of the office personal computer 300.

  When the customer information is continuously input, the customer name and the like are input in the same manner as when the information of the A store 601 is input, and a map around the customer is displayed from the input address (FIG. 10). The convenience store B 611 to be input this time has a parking lot 612. Therefore, the position range is specified so as to surround the main street 602 facing the convenience store B and the parking lot 612. When the designation is completed, the determination button is clicked to determine the position range and save it in the office personal computer 300. At this time, since the location range 601a of the store A 601 and the location range 611a of the convenience store B 611 that have been saved are partially overlapped, the office personal computer 300 displays the overlap location (620 in FIG. 11). Whether or not to save in duplicate is displayed on the display to warn the operator. When the operator does not want to overlap the position range, the operator re-specifies the position range (either or both 601a and 611a) so that the overlapping range does not occur again on the map, and clicks the enter button to return to the position range. Save. On the other hand, if it is possible to store the images while overlapping them, an instruction to complete the storage is input and the position range is stored. At this time, the office PC 300 stores the overlapping range 620 simultaneously with the customer information. Note that the overlapping range may be stored as part of the customer information, or may be stored separately from the customer information.

  When the input and storage of necessary customer information is completed, the route information for recording the route to go around a plurality of customers next is input. Specifically, customer information is arranged in the order of actual circulation in the form of “A store” → “Convenience store B store” →... And stored in the office personal computer 300. If the route to be visited differs depending on the day of the week or the month, multiple pieces of route information are input and saved with the route name attached.

  When the storage of the customer information and the route information is completed, the information is transferred to the storage unit 206 of the mobile phone M via the Internet i. The information may be transferred by connecting the office personal computer 300 and the mobile phone M with a cable 305.

From here, the operation | work which collects dust with the dust collection vehicle G is demonstrated.
First, the key switch 201 of the mobile phone M is operated to specify route information to be collected this time from the storage unit 206. When the specification of the route information is completed, the garbage collection vehicle G is departed to reach the first customer.

  When arriving at the first customer “A store”, the worker stops the garbage collection vehicle G. Since the main street 602 is relatively free this time, it is assumed that the vehicle stops at the position where the illustration of the garbage truck in FIG. 9 is displayed. Then, the worker presses the reset switch and temporarily stores the weight value before work supported by the load cell in the storage unit 102 of the control device 100. When the storage is completed, a message indicating completion is displayed on the display device 96. When the storage is displayed, the operator puts the garbage into the auxiliary storage box. If necessary, the loading device 4 is operated and loaded into the main body storage box 2. When the loading operation of the dust is completed, the weighing switch 94 is pushed, the weight value of the dust is once stored in the storage unit 102 of the control device, and the key switch 201 of the mobile phone M is operated, so that the communication unit of the dust collecting vehicle The weight value is transmitted to the mobile phone M by connection between the mobile phone 103 and the communication unit 202 of the mobile phone. The weight value transmitted at this time is the weight value of the dust D collected this time, which is obtained by subtracting the weight value before the operation from the total weight of the dust container B and the dust D stored by the weighing device 1.

When the reception of the weight value by the mobile phone M is completed, the operation shifts to a customer selection operation. In the customer selection work, first, the GPS receiver 204 is activated by operating the key switch 201, and the current position information of the garbage truck G is acquired from the GPS satellite 501. Then, the CPU 205 of the mobile phone M determines which customer's location range is included in the customer information stored in the storage unit 206 of the mobile phone M, specifies the customer name of the corresponding customer, and weight Save the value and customer name together.
The customer name that is a candidate for the mobile phone M is selected, the selected customer name is displayed on the display 203, or the store list is rearranged according to the distance from the position range. The customer may be specified using the switch 201, and the operator may store the weight value and the customer name together with the key switch 201. Further, when the weight value is stored, the position information, time stamp, and vehicle information of the work vehicle (vehicle registration number, the name of the worker who performed the collection work, etc.) may be stored together. Furthermore, although the weight value is stored in the storage unit 206 of the mobile phone M, information is transmitted to the office personal computer 300 via the control device 100 (storage unit 102) of the garbage truck G or the Internet i. You may make it preserve | save on the hard disk of the office personal computer 300. FIG.

  When determining, the CPU 205 also acquires information on the overlapping range from the storage unit 206, and determines whether it is within the overlapping range. For example, if the garbage collection vehicle G stops in the shaded area in FIG. 11 and the CPU 205 determines from the position information that it is within the overlapping range 620, the display 203 of the mobile phone M (the display unit 96 of the garbage collection vehicle G) indicates that fact. May be displayed) to inform the operator. Next, the customer who acquires the route information and collects it first is specified as the customer this time. In this case, the store A is identified as the store A because it is stored in the route information and the information collected before the convenience store B. Note that. In addition, the CPU 205 determines whether or not the weight value of the store A has already been stored in the storage unit 206, and if it has already been stored, determines that it was a collection operation at the convenience store B. The customer information and the weight value specified as described above are recorded in the storage unit 206. Moreover, it may be stored together with the collection work within the overlapping range.

  The CPU 205 of the mobile phone M prints a slip from the printer 97 when the slip printing necessity check is turned on in the work position information (when printing the slip), and when the email transmission necessity check is turned on (email is sent). In the case of transmission), an e-mail is transmitted to the registered e-mail address. In addition to the weight value, various information is printed or transmitted in the slip or e-mail.

  According to the work position determination system described above, in order to set the position range that is expected to work in advance when specifying the work position as the position range to be determined as the work position, the work is performed within the position range. It can be specified as a work position simply by performing. Even if it is recognized that the position is different from the position where the work is actually performed due to the GPS error, the position can be specified as the work position when the different position falls within the position range. And since the position range can be saved in different shapes and arbitrary shapes for each work position (customer), the position range should be saved according to the road conditions around each work position, the layout of buildings, etc. Can do. Since each work position is stored as a different position range, it is more likely to be within the position range as compared with the case where the position range is uniformly determined, so that the accuracy of specifying the work position is improved.

  In addition, when saving the above location information, a map is displayed on the office PC display, and the range is indicated on the map and specified, so the road conditions and the layout of each work location, etc. It is possible to easily specify a position range adapted to the. When specifying and saving the position range, if it overlaps with the position range of the work position information saved in advance, a warning is displayed and the overlapping range is displayed on the display, so the position range overlaps and saves Can be suppressed. When there is no overlapping range in the position ranges of the plurality of work positions, it is only necessary to determine whether or not the position is within the position range, and the work position can be easily identified. In other words, if work is performed at a position within the range of two or more work positions, it is not possible to immediately identify which work position, but if the overlapping range can be eliminated, work can be performed within two or more position ranges. Since it is not determined that the work position is specified, it is possible to prevent the work position from being uniformly specified.

When specifying the position range, there are various road conditions for each work position such as sidewalk 621, bus stop 622, intersection 623 where the main street intersects, but one side lane or sidewalk 621 of main street 602 is specified. Or can specify the details such as avoiding the intersection 623.
Also, if you have a large-scale site, you can use it to identify where you worked in the site. Is stored as the position of the work position, and a place largely different from the position where the work is actually performed is stored as a reference position for determination (625 in FIG. 11). However, in the position determination system according to the present invention, the position range can be individually designated and stored, so that the actual work position in the factory site can be designated as the position range (624 in FIG. 11). As a result, the position can be specified in accordance with the actual work, and the accuracy of position determination can be improved. Since the setting work is only written on the map, the work position (position range) that is a part of the site can be easily specified. Further, it is possible to avoid complicated manual designation due to the fact that the position cannot be specified, so that the work efficiency can be improved.

  In addition, the mobile phone M stores route information that stores a plurality of work positions as routes to go around. If it is determined that the position range of the garbage collection vehicle is within the overlapping range, the stored route information is recalled. Thus, the work position can be selected and displayed in order of the route so that the work position can be specified easily. When the work position is automatically specified, the work is normally performed in the order of the route designated in advance, so that the work position can be automatically specified with high accuracy.

The present invention is not limited to the above embodiments. In the above embodiment, the CPU 205 of the mobile phone M selects and specifies the work position. However, the control device 100 of the garbage collection vehicle G may perform its function, and at this time, the position information of the work vehicle is obtained. A GPS receiver for acquisition may be mounted on the garbage truck G.
Further, the position information may be acquired in response to an operation of a switch for operating the loading device 4 that is a work device or an operation start or stop of the loading device 4. As a result, an operation for acquiring position information is not necessary, and workability during collection can be improved. Note that the weighing device 1 may be regarded as a working device, and the position information may be acquired in response to an instruction (key switch operation) from the mobile phone M to the weighing device or acquisition of a weight value.

  In the above embodiment, the garbage collection vehicle has been described as an example of the work vehicle. However, the work position of another work vehicle may be specified. For example, in the case of a tank truck, it is used to identify the station that unloads the gasoline at each gas station, or in which vehicle dealer the loaded vehicle was loaded and at which location in the vehicle transporter Used to identify a van type car, for example, when a retailer delivers goods, at which collection point the goods were loaded and at which retailer the goods were unloaded , It may be used to identify the stop where the route bus is currently located.

G Waste collection vehicle (work vehicle)
DESCRIPTION OF SYMBOLS 1 Weighing device B Garbage storage box 2 Main body storage box 3 Auxiliary storage box 4 Loading apparatus 100 Control apparatus M Mobile phone 300 Office personal computer 601 Customer (working position)
601a Position range

Claims (5)

Position information acquisition means for acquiring position information indicating a current position of a work vehicle provided with a work device on a loading platform;
Work position information storage means for storing a plurality of work position information including a position range of the work position;
Calculating means for selecting one work position based on the position information of the work vehicle and the work position information of the plurality of work position information storage means;
The work position determination system for a work vehicle, wherein the position range is stored in a different shape for each work position. A position range designating means for displaying a map on the display unit and designating the map by inputting the position range on the map;
The work position determination system for a work vehicle according to claim 1, further comprising work position information storage means for storing the position range specified by the position range specification means. 3. The work position determination system for a work vehicle according to claim 1, wherein the work position information storage means warns when the position range overlaps with the position range of the work position information stored in advance at the time of storage. When the work position information storage unit overlaps the position range of the work position information stored in advance when the position range is stored, the overlapping range storage unit stores the overlapping range,
4. The work according to claim 1, wherein the calculating means further acquires information on the overlapping range from the overlapping range storing means, and notifies when the position of the work vehicle is within the overlapping range. Vehicle work position determination system. It further comprises route information storing means for storing route order information that circulates each work position,
5. The work vehicle according to claim 4, wherein when it is determined that the calculation means is within the overlapping range, route order information is further acquired from the route information storage means, and a work position is specified based on the route order information. Work position determination system.

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