JP2018115950A - Portable type reference station - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a portable type reference station that can maintain a stable posture.SOLUTION: A portable type reference station 60 according to the present invention comprises: a reference station radio communication antenna 64 that makes radio communication with an autonomous travelling tractor 1; a reference station positioning antenna 61 that receives signals from a positioning satellite 63; and a reference station communication device 62 that is electrically connected to the radio communication antenna 64 and the positioning antenna 61. A supporting rod 65 to which the reference station radio communication antenna 64 is detachably attached is configured so as to be insertable/removable with respect to a supporting leg body 66 from above. The supporting leg body 66 has a communication device fixation part 601 to which the reference station communication device 62 is fixed at a downward position lower than a connection part to the supporting bar 65.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a portable reference station that specifies a reference position when a work vehicle is autonomously traveling.

  In recent years, an autonomous traveling system that autonomously travels an unmanned work vehicle in which no operator has appeared has been developed in order to efficiently and easily perform farm work on a farm field. In such an autonomous traveling system, a reference station installed at a reference point is provided, and both the work vehicle and the reference station acquire satellite positioning information from positioning satellites so that the position of the work vehicle can be accurately recognized. (See Patent Document 1). The reference station is preferably arranged in the vicinity of the work area of the work vehicle. In particular, in consideration of theft or failure, it is required to be portable. In the field of communication networks for mobile terminals, portable base station devices (access points) that can be easily installed are provided (see Patent Document 2).

JP 2014-085168 A JP 2007-259289 A

  However, the portable base station device of Patent Document 2 is intended for communication with a terminal device, and does not communicate with a positioning satellite unlike a reference station in an autonomous traveling system for a work vehicle. Further, when the reference station in the autonomous traveling system is portable, it is preferable to install a wireless antenna used for communication with the mobile station at a high position in order to widen the communication range with the work vehicle serving as the mobile station. On the other hand, since the satellite antenna used for communication with the positioning satellite is heavy, if it is installed at a high position, the reference station may fall down.

  This invention is made | formed in view of said present condition, and makes it the technical subject to provide the portable reference station which can maintain a stable attitude | position.

  The present invention comprises a wireless communication antenna that wirelessly communicates with a work vehicle that autonomously travels, a positioning antenna that receives a signal from a positioning satellite, and a communication device that is electrically connected to each of the wireless communication antenna and the positioning antenna. The support bar, to which the wireless communication antenna is detachably attached, is configured to be detachable from above with respect to the support leg, and the support leg is connected to the support bar. A communication device fixing portion to which the communication device is fixed is provided at a position below the connecting portion.

  The portable reference station has a radio communication antenna fixing portion to which the radio communication antenna is fixed at the upper end of the support rod, and a positioning antenna fixing portion to which the positioning antenna is fixed at the upper end of the support leg. The wireless communication antenna may be supported at a position higher than the positioning antenna.

  In the portable reference station, the support leg is configured such that a rod-like support stay is erected above the pedestal portion, and an antenna support bracket having the positioning antenna fixing portion is installed at the upper end of the support stay. The antenna support bracket is provided with a cylindrical support bar holding part parallel to the support stay together with the positioning antenna fixing part, and the support bar is inserted into the support bar holding part. Thus, the support rod may be supported while being biased with respect to the support stay.

  In the portable reference station, the antenna support bracket has a two-stage structure that is penetrated and fixed to the support stay, and the positioning antenna fixing portion is provided on the upper stage of the antenna support bracket. While supporting the antenna, the communication device fixing portion is provided in the lower stage of the antenna support bracket to support the communication device by hanging through the communication device support bracket, and the support bar holding portion is supported by the support rod The antenna support bracket may be provided by connecting the upper and lower stages on the side of the stay.

  In the portable reference station, the wireless communication antenna and the positioning antenna are fixed to the upper end of the support rod, and the support leg is connected to the support rod, and the support stay is downwardly centered on the support stay. And a plurality of support leg stays extending radially, and a communication device fixing portion that supports the communication device may be configured at a position below the support stay and surrounded by the support leg stay.

  In the portable reference station, the communication device includes an operation unit on a front surface and a plurality of antenna terminals connected to the wireless communication antenna and the positioning antenna via antenna lines on a lower side surface. In addition, a battery that supplies power to the communication device may be insertable / removable from one side surface of the communication device.

  According to the present invention, the communication device, which is a heavy component, is disposed in the lower portion of the support leg so that the communication device fixing portion is provided below the connecting portion of the support leg with the support bar. Since it is possible, the center of gravity of the portable reference station is on the lower side. Therefore, even if the height of the portable reference station is increased, the portable reference station can be erected in a stable posture at the reference point, and damage to the equipment due to falling or emergency stop of autonomous traveling can be avoided. In addition, since the center of gravity of the portable reference station is on the lower side, the wireless communication antenna can be installed at a higher position by the support rod, so that communication with the work vehicle serving as the mobile station can be performed over a relatively wide range, The interruption of communication due to can be suppressed.

  According to the present invention, the portable reference station is configured to be disassembled into the support leg, the support rod, the positioning antenna, the wireless communication antenna, and the communication device, so that the work vehicle or another transport vehicle serving as the mobile station can be obtained. It is possible to carry the portable reference station that has been disassembled into a work that carries out autonomous traveling.

It is the whole robot tractor side view in an embodiment. It is a top view of a robot tractor. It is a functional block diagram of a robot tractor. It is a perspective view which shows the whole structure of the portable reference | standard station of 1st Embodiment. It is a disassembled perspective view which shows the structure of the radio | wireless communication antenna fixing | fixed part in the portable reference station. It is a disassembled perspective view which shows the structure around a positioning antenna fixing | fixed part in the portable reference station. It is a front view which shows the structure of the reference station communication apparatus in the portable reference station. It is a rear enlarged view of the portable reference station. It is a perspective view which shows the structure around a positioning antenna fixing | fixed part in the portable reference station. It is a perspective view which shows the whole structure of the portable reference | standard station of 2nd Embodiment.

  DESCRIPTION OF EMBODIMENTS Embodiments embodying the present invention will be described below with reference to the drawings. First, a robot tractor 1 (hereinafter may be simply referred to as “tractor”) which is an example of a work vehicle according to the present invention will be described. The tractor 1 includes a body 2 that autonomously travels in a farm field. The machine body 2 is detachably equipped with a work machine 3 indicated by a chain line in FIGS. The work machine 3 is used for farm work. Examples of the work machine 3 include various work machines such as a tillage machine, a plow, a fertilizer machine, a mowing machine, and a seeding machine. A desired work machine 3 is selected from these as required, and the machine body 2 Can be attached to. The machine body 2 is configured to be able to change the height and posture of the mounted work machine 3.

  In the present specification, the autonomous traveling means that the configuration provided for traveling by the autonomous traveling control device 51 or the like included in the tractor 1 is controlled as shown in FIG. 1 means traveling. Further, in this specification, the autonomous work means that the configuration that the tractor 1 is equipped with for work is controlled by the autonomous traveling control device 51 and the like, and the tractor 1 performs work along a predetermined route.

  In the following description, a tractor that performs autonomous traveling and autonomous work may be referred to as an “unmanned tractor” or a “robot tractor”, and a tractor that travels and operates by direct operation by an operator may be referred to as a “manned tractor”. . When a part of the farm work is performed by the unmanned tractor in the field, the remaining farm work is performed by the manned tractor. Sharing farm work by unmanned tractors and manned tractors in a single farm field is sometimes referred to as cooperative work of farm work, follow-up work, accompanying work, and the like. Note that the cooperative work described above may include an unmanned tractor performing farm work in a certain field and a manned tractor performing farm work in another field at the same time.

  In this embodiment, the difference between an unmanned tractor and a manned tractor is the presence or absence of direct operation by an operator, and the configuration as a tractor is common to unmanned and manned. That is, even an unmanned tractor can be operated (boarded) by an operator and operated directly (in other words, it can be used as a manned tractor). Moreover, even if it is a manned tractor, an operator can get off and can perform autonomous driving | running | working and autonomous work (in other words, it can be used as an unmanned tractor).

  The structure of the tractor 1 is demonstrated with reference to FIG.1 and FIG.2. As shown in FIG. 1, the airframe 2 that is the airframe of the tractor 1 is supported at its front portion by a pair of left and right front wheels 7 and 7 and at its rear portion by a pair of left and right rear wheels 8 and 8. The front wheels 7 and 7 and the rear wheels 8 and 8 constitute a traveling part.

  A bonnet 9 is disposed at the front of the machine body 2. The bonnet 9 accommodates an engine 10 that is a driving source of the tractor 1 and a fuel tank (not shown). The engine 10 can be configured by, for example, a diesel engine, but is not limited thereto, and may be configured by, for example, a gasoline engine. Further, as the drive source, an electric motor may be used in addition to or instead of the engine.

  Behind the bonnet 9 is a cabin 11 on which an operator boardes. Inside the cabin 11, there are mainly provided a steering handle 12 for the operator to steer, a seat 13 for the operator to sit on, and various operating devices for performing various operations. Yes. However, the agricultural work vehicle is not limited to the one with the cabin 11 and may be one without the cabin 11.

  Although illustration is omitted, examples of the operation device include a monitor device, a throttle lever, a main transmission lever, a lift lever, a PTO switch, a PTO transmission lever, and a plurality of hydraulic transmission levers. These operating devices are arranged in the vicinity of the seat 13 or in the vicinity of the steering handle 12.

  The monitor device is configured to display various information of the tractor 1. The throttle lever is for setting the rotational speed of the engine 10. The main transmission lever is used to change the transmission ratio of the transmission case 22. The raising / lowering lever is for raising / lowering the height of the working machine 3 mounted on the machine body 2 within a predetermined range. The PTO switch is used to intermittently transmit power to a PTO shaft (power extraction shaft) protruding outward from the rear end side of the mission case 22. That is, when the PTO switch is in the ON state, power is transmitted to the PTO shaft and the PTO shaft rotates to drive the work machine 3, while when the PTO switch is in the OFF state, the power to the PTO shaft is cut off. The PTO shaft does not rotate and the work machine 3 stops. The PTO shift lever is used to change the power input to the work machine 3, and specifically, is used to change the rotation speed of the PTO shaft. The hydraulic shift lever is for switching the hydraulic external take-off valve.

  As shown in FIG. 1, a chassis 20 constituting the framework is provided at the lower part of the body 2. The chassis 20 includes a body frame 21, a mission case 22, a front axle 23, a rear axle 24, and the like.

  The body frame 21 is a support member at the front portion of the tractor 1 and supports the engine 10 directly or via a vibration isolation member. The mission case 22 changes the power from the engine 10 and transmits it to the front axle 23 and the rear axle 24. The front axle 23 is configured to transmit the power input from the mission case 22 to the front wheels 7. The rear axle 24 is configured to transmit the power input from the mission case 22 to the rear wheel 8.

  As shown in FIG. 3, the tractor 1 is used as a control unit for controlling the operation of the machine body 2 (forward, reverse, stop, turn, etc.) and the operation of the work machine 3 (elevation, drive, stop, etc.). An engine control device 15, a transmission control device 16, and a work implement control device 17 that can communicate with each other via a bus line 18 are provided. The engine control device 15 is electrically connected to a common rail device 41 as a fuel injection device provided in the engine 10, and the transmission control device 16 includes a hydraulic transmission that changes the power from the engine 10. It is electrically connected to the transmission 42. In addition, the work implement control device 17 is electrically connected to the work implement lift actuator 44.

  The common rail device 41 injects fuel into each cylinder of the engine 10. In this case, when the fuel injection valve of the injector for each cylinder of the engine 10 is controlled to open and close by the control device 4, the high-pressure fuel pumped from the fuel tank to the common rail device 41 by the fuel supply pump is sent from each injector to the engine 10. The injection pressure, injection timing, and injection period (injection amount) of fuel injected into each cylinder and supplied from each injector are controlled with high accuracy.

  Specifically, the transmission 42 is, for example, a movable swash plate type hydraulic continuously variable transmission, and is provided in the transmission case 22. By controlling the transmission 42 with the control device 4 and appropriately adjusting the angle of the swash plate, the transmission ratio of the transmission case 22 can be set to a desired transmission ratio.

  The lift actuator 44 operates, for example, a three-point link mechanism that connects the work machine 3 to the machine body 2 to move the work machine 3 to a retracted position (a position where farm work is not performed) or a work position (a position where farm work is performed). It raises or lowers to either. By controlling the elevating actuator 44 by the control device 4 and appropriately moving the work implement 3 up and down, it is possible to perform farm work with the work implement 3 at a desired height in the field area, for example.

  The engine control device 15 includes a rotation speed sensor 31 that detects the rotation speed of the engine 10, a vehicle speed sensor 32 that detects the rotation speed of the rear wheel 8, and a steering angle that detects the rotation angle (steering angle) of the handle 12. Sensors such as the sensor 33 are also electrically connected. The detection values of these sensors are converted into detection signals and transmitted to the engine control device 15.

  The tractor 1 including the control devices 15 to 17 as described above is configured such that the control devices 15 to 17 communicate with each other via the vehicle bus line 18 based on various operations of an operator boarded in the cabin 11. By controlling each part (the machine body 2, the work machine 3, etc.), the farm work can be executed while traveling in the farm field. In addition, the tractor 1 according to the embodiment can autonomously travel based on a predetermined control signal output from the remote operation device 46, for example, without an operator boarding.

  Specifically, as shown in FIG. 3, the tractor 1 is added with various configurations such as an autonomous traveling control device 51 for enabling autonomous traveling. Further, the tractor 1 is provided with various configurations such as a positioning antenna 6 necessary for acquiring position information of itself (the body) based on the positioning system. With such a configuration, the tractor 1 can acquire its own position information based on the positioning system and can autonomously travel on the field.

  Next, the structure with which the tractor 1 is provided for autonomous traveling will be described in detail. Specifically, as shown in FIGS. 1 and 3, the tractor 1 includes an autonomous traveling control device 51, a steering control device 52, a positioning surveying device 53, a wireless communication router (low power data communication device) 54, and a remote control receiver. (Specific low-power wireless device) 55, a steering actuator 43, a positioning antenna 6, a wireless communication antenna unit 48, and the like.

  The autonomous traveling control device 51 and the steering control device 52 are configured to be able to communicate with the engine control device 15, the transmission control device 16, and the work implement control device 17 via the vehicle bus line 18. In addition, the autonomous traveling control device 51 includes a positioning surveying device 53, a wireless communication router 54, and an autonomous traveling bus line 56 in an autonomous traveling communication system that is different from the steering communication system using the vehicle bus line 18. The remote control receiver 55 can communicate with each other.

  The steering actuator 43 is provided, for example, in the middle of the rotation shaft (steering shaft) of the steering handle 12 and adjusts the turning angle (steering angle) of the steering handle 12. When the tractor 1 travels (as an unmanned tractor) along a predetermined route, the steering control device 52 calculates an appropriate rotation angle of the steering handle 12 so that the tractor 1 travels along the route. The steering actuator 43 is controlled so that the steering handle 12 rotates at the rotation angle. The steering control device 52 communicates with the engine control device 15, the transmission control device 16, and the work implement control device 17 via the vehicle bus line 18, thereby performing steering according to the vehicle speed of the tractor 1. it can. Note that the steering actuator 43 does not adjust the turning angle of the steering handle 12, but may adjust the steering angle of the front wheel 7 of the tractor 1. In this case, the steering handle 12 even if turning is performed. Does not rotate.

  The positioning antenna 6 receives a signal from a positioning satellite constituting a positioning system such as a satellite positioning system (GNSS). As shown in FIG. 1, the positioning antenna 6 is disposed on the upper surface of the roof 14 in the cabin 11. The signal received by the positioning antenna 6 is input to the positioning surveying device 53 shown in FIG. 3, and the position information of the tractor 1 (specifically, the positioning antenna 6) is converted into, for example, latitude / longitude information by the positioning surveying device 53. Calculated. The position information calculated by the positioning surveying device 53 is acquired by the autonomous traveling control device 51 and used for controlling the tractor 1.

  The positioning surveying device 53 is electrically connected to the first wireless communication antenna 48a in the wireless communication antenna unit 48, and through a first wireless communication network (for example, a 920 MHz band wireless communication network) by a specific low power radio. It communicates with a reference station (portable reference station) 60 described later. As shown in FIG. 1, the radio communication antenna unit 48 is disposed on the upper surface of the roof 14 in the cabin 11. The positioning surveying device 53 corrects the satellite positioning information of the tractor 1 (mobile station) based on the correction information from the reference station 60 by communicating with the reference station 60 installed at the close field position via the first wireless communication antenna 48a. Then, the current position of the tractor 1 is obtained. 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 in addition to the positioning antenna 6 being provided in the tractor 1 on the mobile station side, a reference station 60 having a reference station positioning antenna 61 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 is provided with a reference station communication device 62 capable of communicating via a first wireless communication network established between the positioning surveying device 53 of the tractor 1 and a communication device using the first wireless communication antenna 48a.

  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 6 of the tractor 1 on the mobile station side for which position information is to be obtained. ing. The reference station 60 generates correction information including the measured satellite positioning information and the 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 communication device 62 To the first wireless communication antenna 48 a of the tractor 1. The positioning surveying device 53 of the tractor 1 (corresponding to the mobile station) corrects the satellite positioning information measured by the positioning antenna 6 by using the correction information transmitted from the reference station 60, thereby obtaining the current position information ( For example, latitude information / longitude information) is obtained.

  In this embodiment, a high-accuracy satellite positioning system using the GNSS-RTK method is used. However, the present invention is not limited to this, and other positioning systems are used as long as high-accuracy position coordinates are obtained. May be. GNSS-RTK is a positioning method that has been corrected based on the information of a reference station whose position is known and improved in accuracy, and there are a plurality of methods depending on the distribution method of information from the reference station. Since the present invention does not depend on the GNSS-RTK system, details are omitted in this embodiment.

  Further, the positioning surveying device 53 can measure not only the position information of the tractor 1 (airframe 2) by satellite positioning, but also the front and rear, right and left tilt angle information by inertial surveying. The inclination angle information measured by the positioning surveying device 53 is acquired by the autonomous traveling control device 51 in a state associated with the position information (latitude / longitude information) and used for controlling the tractor 1. In addition, the positioning surveying device 53 can also measure the height position of the positioning antenna 6 with respect to the farm scene, and thus the vehicle height of the tractor 1 (airframe 2).

  The wireless communication antenna unit 48 is disposed on the top surface of the roof 14 of the cabin 11 of the tractor 1 and is connected to the first to third wireless communication networks 48a to 48a that communicate with the first to third wireless communication networks having different frequency bands. 48c. The first wireless communication network is constructed by, for example, a specific low-power radio in the 920 MHz band having a high data transmission speed in order to communicate positioning information by the reference station 60. The second wireless communication network is constructed by, for example, a 2.4 GHz band low-power data communication system in order to allow high-speed data communication such as image data to be performed at high speed. Since the third wireless communication network has a smaller amount of data transmission than the second wireless communication network, the third wireless communication network is constructed by, for example, a specific low power wireless in the 400 MHz band.

  The first wireless communication antenna 48a is electrically connected to the positioning surveying device 53, the second wireless communication antenna 48b is electrically connected to the wireless communication router 54, and the third wireless communication antenna 48c is The remote control receiver 55 is electrically connected. The wireless communication router 54 connected to the second wireless communication antenna 48b communicates with the remote control device 70 capable of displaying an image operated by an operator outside the tractor 1 through the second wireless communication network. The wireless communication router 54 receives the control signal from the remote operation device 70 and transmits it to the autonomous travel control device 51 via the autonomous travel bus line 56. The remote control receiver 55 connected to the third wireless communication antenna 48c communicates with the emergency stop remote control 71 operated by an operator outside the tractor 1 through the third wireless communication network. The remote control receiver 55 receives a control signal from the emergency stop remote control 71 and transmits it to the autonomous travel control device 51 via the autonomous travel bus line 56.

  Specifically, the remote control device 70 is configured as a tablet personal computer including a touch panel. The operator can check the information displayed on the touch panel of the remote operation device 70 (for example, information on a field necessary for autonomous traveling). In addition, the operator operates the remote control device 70 to transmit a control signal for controlling the tractor 1 to the autonomous traveling control device 51 of the tractor 1. Note that the remote operation device 70 of the embodiment is not limited to a tablet personal computer, and may be configured by, for example, a notebook personal computer. Alternatively, when a manned tractor (not shown) is allowed to travel along with the unmanned tractor 1, a monitor device mounted on the manned tractor can be used as a remote control device.

  The autonomous traveling control device 51 calculates a traveling route in the field area (traveling area) based on an instruction from an operator who uses the remote operation device 70. Then, the autonomous travel control device 51 compares the calculated travel route with the position information of the tractor 1 to confirm the position of the tractor 1 on the travel route, and considers the tilt angle information and the like to steer the tractor 1. Corners and traveling speed are calculated and communicated with the control devices 15 to 17 and 52 through the vehicle bus line 18. Thereby, the tractor 1 can perform farm work by the work implement 3 while autonomously traveling along the travel route. In this way, the route in the field area (traveling region) where the tractor 1 autonomously travels may be referred to as a “traveling route” in the following description. In the field area (running area), the area (work area) to be farmed by the work machine 3 of the tractor 1 is determined as an area excluding the headland and the margin from the entire field area. Are set based on these registered points and the work width of the tractor 1 when the registration work of the registered points is executed.

  The emergency stop remote controller 71 is a remote control switch for emergency stop of the tractor 1 and is owned by an operator who operates the remote control device 70. When the switch operation is performed by the operator, an emergency stop control signal is sent. Send. The emergency stop remote controller 71 has an emergency stop button 72 protruding from the surface of the remote control main body. When the operator presses the emergency stop button 72, an emergency stop control signal is transmitted. Further, the emergency stop remote controller 71 is configured to be detachable from the remote control device 70 and is configured to be capable of attaching a strap (string member) so as to be in close contact with the body such as being hung on the operator's neck.

  The autonomous travel control device 51 stops fuel injection in the common rail device 41 and communicates with the engine control device 15 based on the operator's operation on the emergency stop button 72 in the emergency stop remote controller 71 and also transmits the transmission control device. 16, the transmission 42 is set in a neutral state, and a braking operation by a brake device 26 described later is applied. At this time, the autonomous traveling control device 51 controls the steering actuator 43 so that the handle 12 is in the neutral position by communication with the steering control device 52, and directs the left and right front wheels 7, 7 in the straight traveling direction. It is good.

  The autonomous traveling control device 51 is in a communication state with the reference station 60 in the positioning surveying device 53 (communication state in the first communication network), and in a communication state with the remote control device 70 in the wireless communication router 54 (communication state in the second communication network). And each of the communication states (communication states in the third communication network) with the remote controller 71 for emergency stop by the remote control receiver 55 is confirmed via the autonomous traveling bus line 56. When the autonomous traveling control device 51 confirms that the communication state in any of the first to third communication networks is interrupted, the autonomous traveling control device 51 communicates with the engine control device 15 and the transmission control device 16, so that the tractor 1 Stop autonomous driving in an emergency. If the positioning surveying device 53, the wireless communication router 54, and the remote control receiver 55 do not receive a signal from the communication partner for a predetermined period or more, it is determined that the communication with the communication partner is interrupted.

  Furthermore, the tractor 1 is provided with a pair of left and right brake devices 26 and 26 that brake the left and right rear wheels 8 and 8 by two systems of operation and automatic control of a brake pedal and a parking brake lever. That is, both the left and right brake devices 26, 26 are configured to brake both the left and right rear wheels 8, 8 by operating the brake pedal (or parking brake lever) in the braking direction. Further, when the turning angle of the handle 12 becomes equal to or greater than a predetermined angle, the brake device 26 for the rear wheel 8 on the inside of the turn is automatically braked by a command from the transmission control device 16 ( So-called auto brake).

  The tractor 1 is provided with an obstacle sensor 35 that detects whether there is an obstacle ahead, side, or rear. The obstacle sensor 35 is configured by a laser sensor, an ultrasonic sensor, or the like, recognizes an obstacle existing in front, side, and rear of the tractor 1 and generates a detection signal. Further, the tractor 1 is attached with a camera 36 that photographs the front, side, and rear. The obstacle sensor 35 and the camera 36 are configured to be capable of wireless communication with the wireless communication router 54, and transmit obstacle detection signals and image signals to the autonomous traveling control device 51 via the wireless communication router 54 and the autonomous traveling bus line 56. To do. Then, the wireless communication router 54 transmits the image signal from the camera 36 to the remote operation device 70 through the second wireless communication network, whereby the image around the tractor 1 can be displayed on the remote operation device 70. The obstacle sensor 35 and the camera 36 may be connected to the autonomous travel control device 51 via the autonomous travel bus line 56 in a wired manner.

  The portable reference station 60 includes a reference station wireless communication antenna 64 that wirelessly communicates with the autonomously traveling tractor (work vehicle) 1, a reference station positioning antenna 61 that receives a signal from the positioning satellite 63, a wireless communication antenna 64, and a positioning antenna 61. And a reference station communication device 62 electrically connected to each other. The portable reference station 60 is installed at a reference point for specifying the position of a tractor (work vehicle) 1 serving as a mobile station. The portable reference station 60 is configured to be disassembled into a plurality of members, and each disassembled member is configured to have a size that can be transported by the tractor 1.

  The portable reference station 60 assembled at the reference point by assembling the disassembly member sends the signal from the positioning satellite 63 received by the reference station positioning antenna 61 to the reference station communication device 62, and the reference station communication device 62 measured the satellite positioning information. And correction information including reference point position information and the like are generated. Then, the portable reference station 60 transmits the correction information generated by the reference station communication device 62 from the reference station wireless communication antenna 64 that is communicatively connected to the first wireless communication network that can communicate with the first wireless communication antenna 48 a of the tractor 1.

  As a wireless communication terminal for operating the unmanned tractor 1 which is an autonomous traveling work vehicle, a remote operation device (terminal device main body) 70 for executing wireless communication with the tractor 1 and an emergency stop remote controller 71 are provided. The remote control device 70 and the emergency stop remote controller 71 each communicate with the tractor 1 through wireless communication networks having different communication methods. The remote operation device 70 includes a display that can be operated by a touch panel, and the emergency stop remote controller 71 is configured to be detachable from the outer frame of the remote operation device 70. The emergency stop remote controller 71 includes an emergency stop button 72 for stopping the autonomous traveling of the tractor 1 and a start button 73 for starting wireless communication with the tractor 1.

  Next, the configuration of the portable reference station 60 in the present embodiment will be described below with reference to FIGS. As shown in FIGS. 4 to 9, the support rod 65 to which the reference station wireless communication antenna 64 is detachably attached is configured to be able to be inserted into and removed from the support leg 66 from above. The support leg 66 has a communication device fixing portion 601 (see, for example, FIG. 6) to which the reference station communication device 62 is fixed at a position below the connecting portion with the support rod 65.

  Since the communication device fixing portion 601 is provided below the connecting portion of the support leg 66 with the support rod 65, the reference station communication device 62, which is a heavy component, is disposed in the lower portion of the portable reference station 60. Therefore, the center of gravity of the portable reference station 60 is on the lower side. Therefore, even if the height of the portable reference station 60 becomes high, the portable reference station 60 can be erected in a stable posture at the reference point, and damage to the equipment due to falling or emergency stop of autonomous traveling can be avoided. Further, since the center of gravity of the portable reference station 60 is on the lower side, the reference station wireless communication antenna 64 can be installed at a higher position by the support rod 65, so that communication with the tractor 1 serving as a mobile station can be performed in a relatively wide range. In addition, the interruption of communication by the shielding object can be suppressed.

  A wireless communication antenna fixing portion 602 to which the reference station wireless communication antenna 64 is fixed is provided at the upper end of the support rod 65. On the other hand, a positioning antenna fixing portion 603 to which the reference station positioning antenna 61 is fixed is provided at the upper end of the support leg 66. Thereby, in the portable reference station 60, the reference station radio communication antenna 64 is supported at a position higher than the reference station positioning antenna 61.

  The wireless communication antenna fixing portion 602 is fixed to the upper end of the support rod 65 by welding or the like, and is configured in a plate shape extending left and right around the support rod 65. That is, the upper end of the support bar 65 is formed in a substantially T shape by the wireless communication antenna fixing portion 602. The reference station radio communication antenna 64 is fixed to the plate-like radio antenna support bracket 610 by magnetic adhesion at both left and right ends.

  A radio antenna support bracket 610 to which a pair of left and right reference station radio communication antennas 64 are attached to both ends is configured to be wider than the left and right width of the radio communication antenna fixing portion 602. Then, the wireless antenna support bracket 610 is fixed to the support bar 65 by screwing the central region of the radio antenna support bracket 610 to the radio communication antenna fixing part 602 at the upper end of the support bar 65 with a bolt 611. Since the reference station radio communication antenna 64 has a configuration in which a magnet is attached to the back surface thereof and is fixed to the metal radio antenna support bracket 610 by a magnetic force, the reference station radio communication antenna 64 can be easily attached to and detached from the radio antenna support bracket 610.

  The support leg 66 is configured such that a rod-like support stay 605 is erected above the pedestal portion 604, and a positioning antenna support bracket 606 having a positioning antenna fixing portion 603 is installed at the upper end of the support stay 605. . The positioning antenna support bracket 606 is provided with a cylindrical support rod holding portion 607 parallel to the support stay 605 together with the positioning antenna fixing portion 603, and the support rod 65 is inserted into the support rod holding portion 607. Thus, the support rod 65 is biased and fixed to the support stay 605.

  The positioning antenna support bracket 606 has a two-stage structure that is penetrated and fixed to the support stay 605. A positioning antenna fixing portion 603 is provided on the upper stage of the positioning antenna support bracket 606 to support the reference station positioning antenna 61. On the other hand, a communication device fixing unit 601 is provided at the lower stage of the positioning antenna support bracket 606 to support the reference station communication device 62 in a suspended manner via the communication device support bracket 67. A support bar holding portion 607 is provided by connecting the upper and lower stages of the positioning antenna support bracket 606 on the side of the support stay 605.

  The positioning antenna support bracket 606 is formed in a substantially U shape in a side view, and a connection base 612 of the reference station positioning antenna 61 is fastened and fixed to the positioning antenna fixing portion 603 in the upper part by a bolt 613. . The connection base 612 has a configuration in which a fixing bolt projects upward from the center, and the reference station positioning antenna 61 is detachably fixed to the bolt of the connection base 612. On the other hand, the connecting portion 614 of the communication device support bracket 67 is fastened and fixed to the communication device fixing portion 601 in the lower part by a thumbscrew 615. The upper portion of the positioning antenna support bracket 606 (positioning antenna fixing portion 603) is fixed to the upper end of the support stay 605, and the lower portion of the antenna support portion bracket (communication device fixing portion 601) is the middle portion of the support stay 605. It is fixed to.

  The communication device support bracket 67 is formed in a U shape in a plan view, and suspends and supports a communication device fixing plate 616 to which the reference station communication device 62 is fixed at a front edge portion thereof. And the communication apparatus support bracket 67 comprises the connection part 614 by extending right and left both ends of the front edge part connected with the communication apparatus fixing plate 616 back. With this configuration, when the communication device support bracket 67 connects the pair of left and right connecting portions 614 extending rearward to the wireless communication antenna fixing portion 602 of the positioning antenna support bracket 606, the communication device support bracket 67 is notched. The support stay 605 is positioned at the portion. Therefore, when the communication device support bracket 67 is connected to the positioning antenna support bracket 606 with the thumbscrew 615, the support stay 605 and the communication device support bracket 67 do not interfere with each other.

  On the front surface of the reference station communication device 62, an operation unit using a key switch 621, a power switch 622, and the like and a display unit using a liquid crystal display 623 are provided. On the lower side surface of the reference station communication device 62, antenna terminals 624 and 625 connected to the reference station positioning antenna 61 and the reference station wireless communication antenna 64 via antenna lines 608 and 609 are projected. A battery 626 that supplies power to the reference station communication device 62 can be inserted into and removed from a battery mounting port 627 provided on one side surface (left side surface in the present embodiment) of the reference station communication device 62.

  The reference station communication device 62 is fastened to a communication device fixing plate 616 having a substantially U-shaped side view with the back surface bent at the upper and lower edges. A side cover 617 that covers the side surface of the reference station communication device 62 is fixed to the installation surface of the reference station communication device 62 on the communication device fixing plate 616. The side cover 617 is formed in a U shape so as to cover the upper side and the left and right side surfaces of the reference station communication device 62, and its lower end portion is fixed to the bent surface of the lower edge of the communication device fixing plate 616. ing. In addition, the front cover 618 hangs the lower part of the side cover 617 left and right, and the antenna terminals 624 and 625 provided on the lower surface of the reference station communication device 62 are covered by the front cover 618. The front cover 618 is disposed below the operation unit using the key switch 621 and the power switch 622 and the display unit using the liquid crystal display 623.

  The side cover 617 includes a battery insertion notch 628 on the upper left side. That is, the side cover 617 includes a battery insertion notch 628 at a position corresponding to the battery mounting port 627 installed on the left side of the reference station communication device 62. Therefore, even when the reference station communication device 62 is covered with the side cover 617, the battery 626 can be inserted into and removed from the battery mounting port 627.

  An antenna line 608 connected to the reference station positioning antenna 61 is inserted from an antenna line insertion opening 629 opened on the lower back side of the communication device fixing plate 616 and connected to the antenna terminal 624 on the lower surface of the reference station communication device 62. . Similarly, the two antenna wires 609 connected to the pair of left and right reference station wireless communication antennas 64 are extended downward with the support stay 605 interposed therebetween, and the antenna wire insertion opening 629 of the communication device fixing plate 616. Are connected to the two antenna terminals 625 on the lower surface of the reference station communication device 62, respectively.

  Note that the two antenna wires 609 are restrained by a pair of left and right antenna wire fixing members 630 installed at the left and right positions of the wireless antenna support bracket 610 in the support leg 66 so that the two antenna wires 608 are left and right. It can be stretched in a state of being separated from each other. For example, the antenna wire fixing member 630 is installed at the left and right ends of the communication device fixing portion 601 of the positioning antenna support bracket 606 so that the antenna wire fixing member 630 is fixed at a position separated from the left and right.

  Since the portable reference station 60 is configured to be disassembled into a support leg 66, a support rod 65, a reference station positioning antenna 61, a reference station wireless communication antenna 64, and a reference station communication device 62, the tractor 1 serving as a mobile station or another It is possible to load the disassembled portable reference station 60 on the transport vehicle and transport it to a work place (a farm field) that performs autonomous travel.

  As an example of disassembling the portable reference station 60, the support rod 65 is removed from the support leg 66, the support leg 66 to which the reference station positioning antenna 61 and the reference station communication device 62 are fixed, and the reference station radio communication antenna 64 is fixed. The support bar 65 is disassembled. Then, the antenna wire 609 is detached from the antenna terminal 625 of the reference station communication device 62 and the reference station wireless communication antenna 64 is detached from the wireless antenna support bracket 610, thereby separating the reference station wireless communication antenna 64 from the support rod 65. Further, the base station communication device 62 is disassembled from the support leg 66 together with the communication device support bracket 67 by removing the thumbscrew 615. Further, the reference station positioning antenna 61 is disassembled from the support leg 66 by removing the reference station positioning antenna 61 from the connection base 612 fixed to the upper end of the support stay 605 of the support leg 66.

  Next, the configuration of the portable reference station 60A according to the second embodiment will be described below with reference to FIG. As shown in FIG. 10, in the portable reference station 60 </ b> A of this embodiment, a reference station positioning antenna 61 and a reference station wireless communication antenna 64 are fixed to the upper end of a support bar 65. The support leg 660 includes a support stay 661 connected to the support bar 65 and a plurality of support leg stays 662 extending radially downward with the support stay 661 as a center. A communication device fixing portion 663 that supports the communication device 62 is formed at a position below the support stay 661 and surrounded by the support leg stay 662.

  In the present embodiment, for example, the support leg 660 and the support bar 65 are disassembled by pulling out the support bar 65 from the support stay 661. Further, by removing the communication device 62 placed and fixed on the communication device fixing portion 663, the support leg stay 662 of the support leg 660 can be folded.

  The present invention is not limited to the above-described embodiment, and can be embodied in various forms. The configuration of each unit is not limited to the illustrated embodiment, and various modifications can be made without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1 Robot tractor 2 Airframe 3 Work machine 4 Control apparatus 6 Positioning antenna 15 Engine control apparatus 16 Transmission control apparatus 17 Work machine control apparatus 18 Vehicle bus line 48 Radio communication antenna unit 48a 1st antenna 48b 2nd antenna 48c 3rd antenna 51 Autonomous Driving Control Device 52 Steering Control Device 53 Positioning Surveying Device 54 Wireless Communication Router 55 Remote Control Receiver 56 Autonomous Driving Bus Line 60 Portable Reference Station 60A Portable Reference Station 61 Reference Station Positioning Antenna 62 Reference Station Communication Device 63 Positioning Satellite 64 Reference Station Wireless Communication Antenna 65 Support rod 66 Support leg body 67 Communication device support bracket 601 Communication device fixing portion 602 Wireless communication antenna fixing portion 603 Positioning antenna fixing portion 604 Base portion 605 Support stay 606 Positioning antenna support bracket 607 Support rod holding portion 608 An N-wire 609 Antenna wire 610 Wireless antenna support bracket 611 Bolt 612 Connecting base 613 Bolt 614 Connecting portion 615 Thumb screw 616 Communication device fixing plate 617 Side cover 618 Front cover 621 Key switch 622 Power switch 623 Liquid crystal display 624 Antenna terminal 625 Antenna terminal 626 Battery 627 Battery attachment port 628 Battery insertion notch 629 Antenna line insertion opening 630 Antenna line fixing member

Claims (6)

A portable reference station comprising: a wireless communication antenna that wirelessly communicates with a work vehicle that autonomously travels; a positioning antenna that receives a signal from a positioning satellite; and a communication device that is electrically connected to each of the wireless communication antenna and the positioning antenna. Because
The support rod to which the wireless communication antenna is detachably attached is configured to be insertable / removable from above with respect to the support leg,
The portable leg station, wherein the support leg has a communication device fixing portion to which the communication device is fixed at a position below a connecting portion with the support rod.   While having a radio communication antenna fixing part to which the radio communication antenna is fixed at the upper end of the support bar, it has a positioning antenna fixing part to which the positioning antenna is fixed to the upper end of the support leg, and the radio communication antenna is The portable reference station according to claim 1, wherein the portable reference station is supported at a position higher than the positioning antenna. The support leg is configured such that a rod-like support stay is erected above the pedestal portion, and an antenna support bracket having the positioning antenna fixing portion is installed at the upper end of the support stay.
The antenna support bracket is provided with a cylindrical support bar holding part parallel to the support stay together with the positioning antenna fixing part, and the support bar is inserted into the support bar holding part, The portable reference station according to claim 2, wherein the support bar is supported by being biased with respect to the support stay. The antenna support bracket has a two-stage structure that is penetrated and fixed to the support stay,
The positioning antenna fixing part is provided on the upper stage of the antenna support bracket to support the positioning antenna, while the communication apparatus fixing part is provided on the lower stage of the antenna support bracket, Supports hanging communication devices,
4. The portable reference station according to claim 3, wherein the support bar holding portion is provided by connecting the upper and lower stages of the antenna support bracket on the side of the support stay.   The wireless communication antenna and the positioning antenna are fixed to the upper end of the support bar, and the support legs are connected to the support bar, and a plurality of the support legs extend radially downward about the support stay. The communication device fixing portion for supporting the communication device is configured at a position below the support stay and surrounded by the support stay. Portable reference station.   The communication device includes an operation unit on a front surface and a plurality of antenna terminals connected to the wireless communication antenna and the positioning antenna via antenna wires on a lower side surface. The portable reference station according to any one of claims 1 to 5, wherein a battery for supplying power can be inserted and removed from one side of the communication device.

Images