JP2018200274A - Satellite positioning system for automatic travelling work vehicle - Google Patents

Abstract

To provide a technology for, even when position coordinates set in a satellite positioning base station unit shared by a plurality of vehicles are rewritten from the outside, enabling all the vehicles to share the rewriting state of the position coordinates.SOLUTION: A satellite positioning system comprises: a satellite positioning base station unit 9B for transmitting correction data on the basis of position coordinates indicating a position where the satellite positioning system is installed and an electric wave from a satellite AS; on-vehicle satellite positioning units 9A for calculating positioning data by using the correction data; position coordinate setting parts 62 for setting the position coordinates of the satellite positioning base station unit 9B from the outside; and setting state management modules 63 each including a setting state transmission part 64 and a setting state reception part 65. The setting state transmission part 64 transmits a setting state of the position coordinates in the satellite positioning base station unit 9B, and the setting state reception part 65 receives the setting state from the setting state transmission part 64 of the other setting state management module 63.SELECTED DRAWING: Figure 5

Description

  The present invention calculates positioning data using a mobile satellite positioning base station unit that receives radio waves from a satellite and generates correction data, and radio waves from the satellite and correction data from the satellite positioning base station unit. The present invention relates to a satellite positioning system for an automatic traveling work vehicle, which includes an in-vehicle satellite positioning unit. The satellite positioning base station unit is installed in the vicinity of the work site of the automatic traveling work vehicle, and the satellite positioning base station unit is mounted on the automatic traveling work vehicle and is used to calculate the position of the self-driving working vehicle.

  This satellite positioning system belongs to the Global Navigation Satellite System (GNSS) that measures the position of the vehicle on the earth based on reception information of radio waves from a plurality of satellites. The base station unit is installed at a predetermined position, and an in-vehicle positioning unit mounted on a moving body such as a vehicle. This system is a method in which correction data transmitted from a base station unit is used in a positioning calculation using satellite radio waves in an in-vehicle positioning unit, and higher positioning accuracy can be obtained compared to a single positioning method. This method includes real-time kinematic GPS (hereinafter abbreviated as RTK-GPS), differential GPS (hereinafter abbreviated as DGPS), and the like. An example in which RTK-GPS is applied to an automatic traveling work vehicle is disclosed in Patent Document 1, for example. In the operation of the positioning method using RTK-GPS, a satellite positioning base station unit is installed near the work site to be traveled by the automatic traveling work vehicle. When this automatic traveling work vehicle performs work at the next work place far away, the satellite positioning base station unit is removed, transported to the next work place, and installed at the appropriate place.

JP 2016-31649 A (see paragraph 0035)

  When the satellite positioning base station unit is installed at a predetermined position and then activated, the satellite positioning base station unit automatically calculates the coordinates of the installation position, and is manually operated by an external operation (including wireless operation). A position coordinate calculation function is provided. If the position coordinates calculated by the automatic position coordinate calculation function are regarded as inaccurate, the position coordinates set automatically are rewritten by an operation from the in-vehicle positioning unit side using this satellite positioning base station unit. Before rewriting this position coordinate, another vehicle using this satellite positioning base station unit calculates its own vehicle position using the correction data calculated based on the position coordinates set so far. There is a possibility that the vehicle is automatically traveling using the own vehicle position and the traveling route. In such a case, if the position coordinates of the satellite positioning base station unit are rewritten by an external operation (operation by radio from other than the satellite positioning base station unit), there is a contradiction in the calculation results of the vehicle position before and after that. As a result, this vehicle (a vehicle different from the vehicle in which the position coordinates are being rewritten) cannot be automatically operated normally. In addition, if one vehicle is rewriting the position coordinates of the satellite positioning base station unit while the other vehicle is rewriting the position coordinates of the satellite positioning base station unit, the manual position coordinate calculation function may cause an error. There is also.

  From this, even if the position coordinates set in the satellite positioning base station unit shared by a plurality of vehicles are rewritten from the outside, all the vehicles share the rewriting state of such position coordinates. There is a need for technology that can do this.

  A satellite positioning system for an autonomous traveling vehicle according to the present invention includes a satellite positioning base station unit that transmits correction data generated based on position coordinates that are parameters indicating an installed position and radio waves from the satellite; A vehicle-mounted satellite positioning unit that calculates positioning data using radio waves from the satellite and the correction data, and a position coordinate setting unit that sets the position coordinates of the satellite positioning base station unit from the outside using wireless communication; A setting state management module having a setting state transmitting unit and a setting state receiving unit, wherein the setting state transmitting unit transmits a setting state of the position coordinates in the satellite positioning base station unit, and the setting state receiving unit is other The setting state transmitted from the setting state transmitter of the setting state management module is received.

  According to this configuration, when position coordinates, which are parameters indicating the position where the satellite positioning base station unit is installed, are set (new setting or rewriting setting) from the outside of the satellite positioning base station unit by the position coordinate setting unit The setting state is transmitted by the setting state transmission unit. When the setting state receiving unit receives this transmitted setting state, the setting state of the position coordinates in the satellite positioning base station unit at that time is all the in-vehicle satellite positioning using this satellite positioning base station unit. It can be grasped on the unit side. In other words, even if the position coordinates of the satellite positioning base station unit are set from the side of any automated traveling work vehicle (hereinafter also simply referred to as a vehicle), the other vehicles share the setting state substantially in real time. it can. Thereby, even if the position coordinates of the satellite positioning base station unit are set from an arbitrary vehicle side, the confusion of the own vehicle position calculation in all the vehicles using this satellite positioning system is avoided.

  In one preferred embodiment of the present invention, the flag indicating the setting state includes a coordinate unset flag indicating that the position coordinate is not set and being set, and a coordinate set flag indicating completion of the position coordinate setting. It is included. In this configuration, when the coordinate non-setting flag is given, it can be determined that the position coordinates are not set in the satellite positioning base station unit and correction data is not generated. If determined in this way, the vehicle side waits for the position coordinates to be set in the satellite positioning base station unit, or the position coordinate setting unit sets the position coordinates of the satellite positioning base station unit from the outside. It will be. When the coordinate set flag is given, it can be determined that the correction data is generated and transmitted because the position coordinates are set in the satellite positioning base station unit. If judged in this way, the correction data sent will be used on the vehicle side. However, at this time, if it is considered that there is a problem with the position coordinates set in the satellite positioning base station unit, the position coordinates setting unit sets the position coordinates from the outside. In this way, with the two flags, the coordinate non-set flag and the coordinate set flag, all the vehicles using this satellite positioning system can simultaneously grasp the position coordinate setting state in the satellite positioning base station unit. .

  Furthermore, in one of the preferred embodiments of the present invention, the coordinate non-setting flag includes an initializing flag indicating that the position coordinates in the satellite positioning base station unit are being initialized, and the set position. A changing flag indicating that the coordinates are being changed by the position coordinate setting unit is included. In this configuration, when the in-initialization flag is given, the satellite positioning base station unit is setting the position coordinates through the initialization process, so it should wait until the initialization process ends. I can judge. If the changing flag is given, the position coordinate is being changed by an arbitrary position coordinate setting unit, so it should wait until the change of the position coordinate by the position coordinate setting unit is completed. I can judge. In order to avoid the setting of another position coordinate during the setting of the position coordinate, when one of the position coordinate setting units is setting or changing the position coordinate, the other position coordinate setting is performed. Setting or changing the position coordinates by the unit may be prohibited.

  In one preferred embodiment of the present invention, the satellite positioning base station unit is shared by a plurality of the automatic traveling work vehicles, and each of the automatic traveling work vehicles is connected to the control unit and the control unit. A general-purpose terminal device is provided, the general-purpose terminal device includes the position coordinate setting unit and the parameter setting state notification unit, and the setting state is shared between the general-purpose terminal devices through wireless communication. In this configuration, since the general-purpose terminal devices provided in each automatic traveling work vehicle are connected to each other so as to be able to exchange data (pairing state), the general-purpose terminal device sets the position coordinates of the satellite positioning base station unit. Can be acquired and position coordinates can be changed. Therefore, since there is no need to modify the in-vehicle satellite positioning unit mounted on each automatic traveling work vehicle, the conventional in-vehicle satellite positioning unit is used as it is.

It is explanatory drawing which shows the mode of the cooperative work by two tractors. It is explanatory drawing which shows the mutual relationship at the time of cooperative work driving | running | working by two tractors. It is a side view of the work vehicle which carries out cooperative running. It is a functional block diagram of a satellite positioning system and a tractor control system. It is a schematic diagram which shows the flow of data between a satellite positioning base station and the base station management module of a general purpose terminal device. It is explanatory drawing which shows an example of the time chart of the position coordinate setting in the initialization process of a satellite positioning base station unit. It is explanatory drawing which shows an example of the time chart in the position coordinate setting process of the satellite positioning base station unit by a position coordinate setting command.

  Hereinafter, an embodiment of a satellite positioning system for an automatic traveling work vehicle according to the present invention will be described based on the drawings. In this embodiment, two tractors equipped with a tillage device at the rear of the traveling vehicle body use a satellite positioning system as an automatic traveling work vehicle. The two tractors perform the tilling work in cooperation with the farm field that is the work site.

  In this cooperative tillage work, as shown in FIG. 1 and FIG. 2, the tractor given the code “A” of the two tractors travels first, and the tractor given the code “B” The vehicle follows the vehicle with a slight overlap width with respect to the area cultivated by the preceding tractor. In the tilling work on the farm field, generally, it is divided into a central work area CL located on the center side of the farm field and a headland HL defined along the fence around the central work place CL. Each tractor travels straight along a preset target travel route at the central work site CL, travels a U-turn when reaching the headland HL, and returns to straight travel at the central work site CL again. The two tactors can automatically travel along the set target travel route, but the driver gets on one of the two tractors and travels manually, and the other travels automatically. A working method and a working method in which both tractors are automatically driven are possible. In addition, a supervisor may get on a tractor that automatically travels for monitoring purposes. More generally, the driver gets in and travels manually from the farm road to a predetermined position (automatic travel start point) on the field. Regardless of manual driving or automatic driving, the vehicle position of each tractor is calculated using a satellite positioning system, so the deviation between the current position on the field and the target driving route or target point can be obtained accurately. It is done.

  In this embodiment, the two tractors have substantially the same configuration. As shown in FIG. 3, this tractor is provided with a steering unit 20 at the center of a vehicle body 10 supported by a front wheel 11 and a rear wheel 12. At the rear of the vehicle body 10, a rotary tiller 30 as a working device is provided via a hydraulic lifting mechanism 31. The front wheel 11 functions as a steered wheel, and the steering angle is changed by the steering mechanism 13 so that the traveling direction of the tractor is changed. The steering mechanism 13 includes a steering motor 14 for automatic steering. In manual travel, the front wheels 11 are steered using a steering wheel 22 disposed in the control unit 20. In this embodiment, the general-purpose terminal device 6 constituted by a tablet computer is attached to the control unit 20 in a cradle installed at the control seat. The general-purpose terminal device 6 has a wireless data transmission function, and can perform data communication with the control system of the tractor even if it is removed from the cradle and taken out of the tractor. The general-purpose terminal device 6 has a function of providing information to the driver and a function of inputting information from the driver.

  As shown in FIG. 1, since the satellite positioning system in this embodiment employs the RTK-GPS method in GNSS (global navigation satellite system), the satellite positioning base station unit 9B and the vehicle-mounted system are used as basic components. And a satellite positioning unit 9A. The satellite positioning base station unit 9B is installed near the agricultural field, and transmits correction data generated based on position coordinates, which are parameters indicating the installed position, and radio waves from the satellite AS to the in-vehicle satellite positioning unit 9A. . The in-vehicle satellite positioning unit 9 </ b> A is mounted on the tractor, and a satellite antenna for receiving a GNSS signal (including a GPS signal) is attached to the ceiling area of the tactor cabin 21. In order to complement satellite navigation using a satellite positioning system, an in-vehicle satellite positioning unit 9A can be combined with an inertial navigation module incorporating a gyro acceleration sensor or a magnetic bearing sensor. Such an inertial navigation module may be provided at a location different from the in-vehicle satellite positioning unit 9A.

  The satellite positioning base station unit 9B is portable and is configured to be installed at an arbitrary location on the ground. With this configuration, there is no need to install a satellite positioning base station unit 9B in each of a plurality of fields, and one satellite positioning base station unit 9B is transported and installed in each field by a transport vehicle or the like. The A plurality of in-vehicle satellite positioning units 9A can share one satellite positioning base station unit 9B. In addition, when a plurality of fields to be worked are adjacent to each other, one satellite positioning base station unit 9B is installed at a place where it can communicate with the in-vehicle satellite positioning unit 9A of the tractor traveling in each field.

  For this reason, information in which the map data of the field to be worked is associated with the proper installation position of the satellite positioning base station unit 9B corresponding to the field is managed as field information. However, if the satellite positioning base station unit 9B is portable and can be installed at an arbitrary location on the ground, there is a risk that the operator will erroneously install it at a position different from the previous installation position. If the position coordinate of the installation position of the satellite positioning base station unit 9B transmitted from the satellite positioning base station unit 9B is different from the appropriate installation position described in the field information, the satellite positioning base station unit 9B is set to the appropriate installation position. Will be moved. Further, when it is considered that there is an error in the position coordinates of the installation position calculated by the satellite positioning base station unit 9B, the position of the installation position of the satellite positioning base station unit 9B from the tractor side using the configuration described later. It is also possible to rewrite the coordinates.

  FIG. 4 shows a functional block diagram of a satellite positioning system and a tractor control system. The control unit 5 which is a core element of the control system of the tractor includes an output processing unit 7 and an input processing unit 8 as input / output interfaces. In order to perform wireless communication with different types of wireless communication devices, a wireless module 4 operable with a plurality of communication methods is connected to the control unit 5. The wireless module 4 can wirelessly communicate with the wireless modules 4 of other tractors, and is used for data exchange between tractors. Further, the control unit 5 is connected to the general-purpose terminal device 6 and the in-vehicle satellite positioning unit 9A, which is a vehicle side component of the satellite positioning system, through an in-vehicle LAN.

  The satellite positioning base station unit 9B, which is a component installed on the ground of the satellite positioning system, transmits correction data to the in-vehicle satellite positioning unit 9A using wireless communication.

  The general-purpose terminal device 6 is installed with a base station management module 61 for setting and managing various parameters of the satellite positioning base station unit 9B, in particular, position coordinates indicating the installation position of the satellite positioning base station unit 9B. Detailed functions of the base station management module 61 will be described later. In FIG. 4, the data communication between the general-purpose terminal device 6 and the satellite positioning base station unit 9B is configured to be performed via the wireless module 4 incorporated in the control system of the tractor. Since the general-purpose terminal device 6 also includes the wireless module 4, direct data communication can be performed between the general-purpose terminal device 6 and the satellite positioning base station unit 9B.

  The output processing unit 7 is connected to a vehicle traveling device group 71, a work device group 72, and a notification device 73 such as a liquid crystal display. The vehicle travel device group 71 includes control devices related to vehicle travel, such as engine control devices, shift control devices, braking control devices, steering control devices, and the like. In this embodiment, the work device group 72 includes a power control device such as a PTO clutch that turns power transmission to the tilling device 30 on and off, and a lifting cylinder control device of the lifting mechanism 31 that moves the tilling device 30 up and down. ing.

  The input processing unit 8 is connected to a travel system detection sensor group 81, a work system detection sensor group 82, a travel mode switch 83, and the like. The travel mode switch 83 is a switch that selects either an automatic travel mode in which the vehicle travels by automatic steering or a manual steering mode in which the vehicle travels by manual steering. For example, by operating the travel mode switch 83 while traveling in the automatic steering mode, the travel mode can be switched to manual steering, and by operating the travel mode switch 83 during the manual steering, It can be switched to running. The traveling system detection sensor group 81 includes sensors that detect states of operation tools such as an engine speed adjusting tool, an accelerator pedal, a brake pedal, and the steering wheel 22. The work system detection sensor group 82 includes sensors that detect the drive state and posture of the tilling device 30.

  The control unit 5 includes a work travel control module 50, a host vehicle position calculation unit 57, and a notification unit 58. The own vehicle position calculation unit 57 calculates the own vehicle position which is the coordinate position (map coordinate or field coordinate) of the vehicle body 10 based on the positioning data sequentially transmitted from the in-vehicle satellite positioning unit 9A. The notification unit 58 generates information to be notified to the driver or the supervisor, and notifies the information through a notification device 73 by a visual method or an auditory method.

  The work travel control module 50 includes a travel control unit 51, a work control unit 52, an engine control unit 53, an automatic work travel command unit 54, a travel route generation unit 55, and a cooperative travel management unit 56. The travel control unit 51 controls the vehicle travel device group 71 such as the steering motor 14. The tractor can travel both automatically (automatic steering) and manually (manually). For this reason, the traveling control unit 51 has a manual traveling control function and an automatic traveling control function. When the manual travel control function is executed, the vehicle travel device group 71 is controlled based on an operation by the driver. When the automatic travel control function is executed, the travel control unit 51 controls the vehicle travel device group 71 based on the automatic steering command given from the automatic work travel command unit 54. The work control unit 52 gives a work control signal to the work device group 72 in order to control the movement of the tilling device 30. The engine control unit 53 gives an engine control signal to an engine operating device.

  The travel route generation unit 55 reads out the contour data of the field from the input field information, and generates an appropriate travel route in the field. This travel route is generated based on basic initial parameters input by the driver. It is also possible to download and use a travel route generated by another computer. In any case, the travel route obtained by the travel route generation unit 55 is expanded in the memory and used as a target travel route in automatic travel. Of course, this travel route can be used for guidance for the tractor to travel along the travel route even in manual travel.

  The automatic work travel command unit 54 calculates an azimuth shift and a position shift between the travel route set as the target travel route by the travel route generation unit 55 and the own vehicle position calculated by the own vehicle position calculation unit 57. Then, an automatic steering command for eliminating the azimuth shift and the position shift is generated and given to the travel control unit 51.

  The cooperative traveling management unit 56 requests the traveling route generation unit 55 to generate a traveling route in consideration of the traveling route of the cooperative tractor based on the cooperative traveling pattern when performing the cooperative work with the cooperative tractor. To do. The cooperative traveling management unit 56 also has a function of acquiring a traveling state and a working state of the cooperative partner tractor and controlling a working traveling of the cooperative partner tractor or a function of controlling the own working traveling from the cooperative partner tractor. .

  Next, the flow of data when the position coordinates indicating the installation position of the satellite positioning base station unit 9B are set and managed by the base station management module 61 of the general-purpose terminal device 6 will be described using FIG. 4 and FIG. To do.

  The satellite positioning base station unit 9B that receives radio waves from the GNSS satellite AS includes a wireless module 90, a correction data generation unit 91, a parameter management unit 92, and the like. The wireless module 90 performs data communication between the in-vehicle satellite positioning unit 9A of each tractor and the wireless module 4. The satellite positioning base station unit 9B has a function of calculating the position coordinates of the installed position based on the radio wave from the satellite AS as initialization processing when the power is turned on or reset. The position coordinates obtained by the calculation are set as initial position coordinates by the parameter management unit 92, and transmitted to the outside if requested. If the initial position coordinates are different from the position coordinates previously defined as the installation position of the satellite positioning base station unit 9B, it can be regarded as an installation error.

  The correction data generation unit 91 is based on the difference between the position coordinates indicating the installation position of the satellite positioning base station unit 9B set in advance and the position coordinates calculated based on the radio wave from the satellite AS. Correction data is calculated using a correction algorithm. The calculated correction data is transmitted through the wireless module 90 to the in-vehicle satellite positioning unit 9A mounted on each tractor. The on-vehicle satellite positioning unit 9 </ b> A that has received the correction data generates more accurate positioning data using the correction data and the radio wave from the satellite AS, and provides the vehicle position calculation unit 57 with it.

  The parameter management unit 92 manages various parameters set in the satellite positioning base station unit 9B. This parameter includes a position coordinate value (coordinate value) indicating the installation position of the satellite positioning base station unit 9B, whether this position coordinate is automatically calculated as an initialization process, or changed by an external command. A value indicating whether the wireless module is a wireless module, a wireless parameter value of the wireless module 90, and the like.

  The base station management module 61 installed in the general-purpose terminal device 6 includes a position coordinate setting unit 62 and a setting state management module 63. The setting state management module 63 includes a setting state transmission unit 64 and a setting state reception unit 65.

  The position coordinate setting unit 62 sends a position coordinate setting command including a new position coordinate from the general-purpose terminal device 6 side, that is, from each tractor side, to the satellite positioning base station unit 9B, and is set by the satellite positioning base station unit 9B. Change the position coordinates. When the position coordinate setting command is generated, various data are input using a man-machine interface embodied by the touch panel 60 of the general-purpose terminal device 6.

  As described above, the position coordinates indicating the installation position of the satellite positioning base station unit 9B are set by the position coordinates (initial position coordinates) calculated by the initialization process or the position coordinate setting unit 62 of the general-purpose terminal device 6. Position coordinates are used. Therefore, the position coordinates managed by the parameter management unit 92 have a plurality of setting states. As setting flags indicating the setting state, a coordinate non-set flag and a coordinate set flag are defined. The coordinate unset flag indicates before and during setting of the position coordinates in the satellite positioning base station unit 9B, and the coordinate set flag indicates completion of setting of the position coordinates. Further, in the coordinate non-setting flag, an initializing flag indicating that the position coordinates in the satellite positioning base station unit 9B are being initialized, and a position coordinate in which the position coordinates set at that time are given from the position coordinate setting unit 62 A changing flag indicating that the setting command is being changed is included.

  The position coordinate setting state based on the position coordinate setting command from the position coordinate setting unit 62 of an arbitrary tractor is sent as a setting flag from the setting state transmission unit 64 of the tractor to the setting state transmission unit 64 of another tractor. That is, these setting flags indicating the setting state of the position coordinates in the satellite positioning base station unit 9B are shared by all tractors using the base station management module 61 by wireless communication using the wireless module 4. Thereby, the setting state by the position coordinate setting command from the arbitrary tractor side is shared by the other tractors substantially in real time.

  Since the setting state in the satellite positioning base station unit 9B is shared by all the tractors, specifically all the general-purpose terminal devices 6, when any position coordinate setting unit 62 is setting or changing the position coordinates, Setting or changing the position coordinates by another position coordinate setting unit 62 can be prohibited. As a result, even if the position coordinates of the satellite positioning base station unit 9B are changed by an external position coordinate setting command, the fact is grasped by all the tractors through the setting flag, so that confusion in calculating the position of the vehicle is avoided. Is done. Further, the inconvenience that the position coordinate setting command is given to the satellite positioning base station unit 9B from a plurality of tactors is also avoided.

  FIG. 6 shows an example of a time chart for setting the position coordinates in the initialization process of the satellite positioning base station unit 9B. In this time chart, state transition, flag transition A, and flag transition B are shown. The state transition indicates an initial position coordinate setting state of the satellite positioning base station unit 9B. The flag transition A shows how the contents of the setting flag obtained by the base station management module 61 belonging to one tractor accessing the satellite positioning base station unit 9B change due to the state transition. The flag transition B indicates the contents of the setting flag transferred from the base station management module 61 belonging to one tractor to the base station management module 61 belonging to the other tractor.

(State transition) When the satellite positioning base station unit 9B is installed in a proper place and the power is turned on, an initialization process is performed to automatically calculate the position coordinates of the installed position based on the radio wave from the satellite AS. Is called. The position coordinates obtained in this way are set as initial position coordinates.
(Flag Transition A) When the base station management module 61 accesses the satellite positioning base station unit 9B, a setting flag having contents corresponding to the state of the satellite positioning base station unit 9B is acquired from the parameter management unit 92. For example, a “pre-initialization” flag is given in response to power ON, a “initializing” flag is given in response to the start of initialization, and a “coordinates already set” flag is given in response to initial position coordinate settings. Note that the “before initialization” flag and the “initializing” flag can be regarded as “coordinate not set” flags.
(Flag Transition B) The setting flag acquired by the base station management module 61 belonging to one tractor is a wireless communication via the wireless module 4, and the base station management module 61 belonging to the other tractor from the base station management module 61. Forwarded to As a result, the base station management modules 61 of all the tactors can share the contents of the setting flag that changes with the state transition.

FIG. 7 shows an example of a time chart of the position coordinate setting process of the satellite positioning base station unit 9B by the position coordinate setting command. Also in this time chart, the meanings of state transition, flag transition A, and flag transition B are the same as those in FIG.
(State Transition) A position coordinate change for rewriting the position coordinate is performed by a position coordinate setting command from the base station management module 61 belonging to one tractor, and a new position coordinate is set when the coordinate change is completed.
(Flag transition A) When the position coordinate change process starts by transmitting the position coordinate setting command to the satellite positioning base station unit 9B, the base station management module 61 is given a “coordinate changing” flag. This “coordinate changing” flag is given until a new position coordinate is set. When a new position coordinate is set, a “coordinate has been set” flag is given. Until the “coordinate changing” flag is given, the “coordinate setting completed” flag is valid. From the “coordinate changing” flag to the “coordinate setting completed” flag, the “coordinate not set” flag or “ The “changing” flag is considered valid.
(Flag Transition B) Again, since the setting flag given by one base station management module 61 is transferred to the other base station management module 61, all the base station management modules 61 are accompanied by a state transition. Share the contents of setting flags that change. Thereby, while any of the base station management modules 61 is changing the position coordinates, it is possible to prohibit other base station management modules 61 from changing the position coordinates.

  The configuration disclosed in the above embodiment (including another embodiment, the same applies hereinafter) can be applied in combination with the configuration disclosed in the other embodiment as long as no contradiction arises. The embodiment disclosed in the document is an exemplification, and the embodiment of the present invention is not limited to this, and can be appropriately modified without departing from the object of the present invention.

[Another embodiment]
(1) In the embodiment described above, the base station management module 61 is constructed in the general-purpose terminal device 6, but instead, the base station management module 61 may be constructed in the control unit 5.
(2) In the above-described embodiment, the RTK-GPS method is adopted as the positioning data generation method of the satellite positioning system, but other methods such as the DGPS method may be adopted.
(3) Each functional unit in the functional block diagrams shown in FIGS. 4 and 5 is divided mainly for the purpose of explanation. Actually, each functional unit may be integrated with other functional units, or may be further divided into a plurality of functional units.
(4) In the above-described embodiment, a tractor equipped with the tilling device 30 as a working device is taken up as an automatic traveling work vehicle. The present invention can also be applied to various work vehicles such as cars and construction work vehicles. Further, the plurality of automatic traveling work vehicles that perform the cooperative work may not be the same type of work vehicle, for example, one may be a combine and the other may be a tractor.

  The present invention can be applied to a work vehicle including a wireless communication unit capable of wireless communication with a wireless terminal device.

4: Wireless module 5: Control unit 50: Work travel control module 51: Travel control unit 52: Work control unit 53: Engine control unit 54: Automatic work travel command unit 55: Travel route generation unit 56: Cooperative travel management unit 57: Own vehicle position calculation unit 6: general-purpose terminal device 60: touch panel 61: base station management module 62: position coordinate setting unit 63: setting state management module 64: setting state transmission unit 65: setting state receiving unit 7: output processing unit 8: Input processing unit 9A: vehicle-mounted satellite positioning unit 9B: satellite positioning base station unit 90: wireless module 91: correction data generation unit 92: parameter management unit AS: satellite (GNSS satellite)

Claims (5)

A satellite positioning system for an automatic traveling work vehicle,
A satellite positioning base station unit that transmits correction data generated based on position coordinates that are parameters indicating the installed position and radio waves from the satellite;
An in-vehicle satellite positioning unit that calculates positioning data using radio waves from the satellite and the correction data;
A position coordinate setting unit for setting the position coordinates of the satellite positioning base station unit from the outside using wireless communication;
A setting state management module having a setting state transmitting unit and a setting state receiving unit;
With
The setting state transmission unit transmits the setting state of the position coordinates in the satellite positioning base station unit, and the setting state reception unit displays the setting state transmitted from the setting state transmission unit of another setting state management module. Satellite positioning system for automatic traveling work vehicles to receive.   2. The satellite according to claim 1, wherein the flag indicating the setting state includes a coordinate unset flag indicating that the position coordinates are not set and being set, and a coordinate set flag indicating completion of the setting of the position coordinates. Positioning system.   The coordinate non-setting flag includes an initializing flag indicating that the position coordinates in the satellite positioning base station unit are being initialized, and a change indicating that the set position coordinates are being changed by the position coordinate setting unit. The satellite positioning system according to claim 2, wherein a flag is included.   4. The satellite positioning system according to claim 3, wherein when one of the position coordinate setting units is setting or changing the position coordinate, setting or changing the position coordinate by another position coordinate setting unit is prohibited. The satellite positioning base station unit is shared by a plurality of the automatic traveling work vehicles, each of the automatic traveling work vehicles includes a control unit and a general-purpose terminal device connected to the control unit, and
5. The general-purpose terminal device includes the position coordinate setting unit, the setting state transmission unit, and the setting state reception unit, and the setting state can be shared between the general-purpose terminal devices through wireless communication. The satellite positioning system according to any one of the above.

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