JP2020012677A - Positioning system for work machine and method for positioning work machine - Google Patents

Abstract

To allow a work machine for working in different places to be positioned accurately.SOLUTION: The positioning system for a work machine includes: a first position operation unit in the work machine for determining a first position on the basis of a satellite signal sent from a positioning satellite; a position sending unit in the work machine for sending the first position determined by the first position operation unit; a position receiving unit for receiving the first position sent from the position sending unit; a reference point setting unit for setting a reference point on the basis of the first position of the work machine received by the position receiving unit; a correction information sending unit for sending, to the work machine, correction information corresponding to the reference point set by the reference point setting unit and obtained from a satellite signal of another positioning satellite different from the positioning satellite; a correction receiving unit in the work machine for receiving the correction information sent from the correction information sending unit; and a second position operation unit in the work machine for determining a second position as the position of the work machine when the work machine is working, on the basis of the correction information and the satellite signal.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a positioning system for a working machine such as a tractor and a positioning method for the working machine.

  2. Description of the Related Art Conventionally, Patent Document 1 is known as a working machine including a positioning device. The work machine of Patent Literature 1 includes a first acquisition unit that acquires a satellite signal from a positioning satellite, a second acquisition unit that acquires a detection signal of an inertial device, and a third acquisition that acquires straight traveling of a vehicle body and turning of the vehicle body. Unit, a first calculating unit that applies the satellite signal obtained by the first obtaining unit to the satellite navigation to calculate first positioning information that is positioning information, and converts the detection signal obtained by the second obtaining unit to inertial navigation. A second calculation unit that calculates second positioning information that is positioning information by applying the same; and a third calculation unit that calculates third positioning information that is positioning information by applying the first positioning information and the second positioning information to a Kalman filter. And an operation unit. According to Patent Literature 1, the position of the working machine at the time of turning can be obtained by independent positioning of the positioning device provided in the working machine.

  As a technique for performing positioning using a quasi-zenith satellite, that is, a QZSS satellite, Patent Document 2 is known. Patent Literature 2 performs single positioning based on a positioning signal received from a GNSS satellite, and generates observation data based on the result of the single positioning and satellite positioning correction data received from a QZSS satellite, and generates the generated observation data. More accurate positioning is performed based on the data.

JP 2017-187394 A JP 2018-66577 A

In Patent Document 2, although highly accurate positioning can be expected based on single positioning based on a positioning signal of a GNSS satellite and satellite positioning correction data from a QZSS satellite, work machines that work in various places are completely considered. It is not the fact.
In view of the above problems, an object of the present invention is to provide a working machine that can perform accurate positioning for working machines that work in various places.

The technical means of the present invention for solving this technical problem has the following features.
The positioning system of the working machine is provided in the working machine and obtains a first position based on a satellite signal transmitted from a positioning satellite. The first position calculating unit is provided in the working machine and performs the first position calculation. A position transmitting unit capable of transmitting the first position determined by the unit, a position receiving unit receiving the first position transmitted from the position transmitting unit, and a first position of the work machine received by the position receiving unit. A reference point setting unit for setting a reference point, and the correction information obtained from a satellite signal of another positioning satellite different from the positioning satellite corresponding to the reference point set by the reference point setting unit. A correction information transmitting unit that transmits to the working machine, a correction receiving unit that is provided in the working machine, and receives the correction information transmitted from the correction information transmitting unit, and a correction receiving unit that is provided in the working machine, and And based on the satellite signal, And a second position calculation unit for determining the second position is the position during the operation of the serial working machine, and a.

In the positioning system for a working machine, the first position calculating section and the second position calculating section are provided in a mobile station positioning device provided in the working machine, and the reference point setting section includes a plurality of working machines. And setting the common reference point of the mobile station positioning device provided in each of the plurality of work machines based on the first position of the mobile device.
The reference point setting unit sets the reference point such that a first area of the plurality of work machines is included in a positioning area set by the reference point and a predetermined base line length.

  The position receiving unit, the reference point setting unit, and the correction information transmitting unit are predetermined base station positioning devices, and the mobile station positioning device receives a satellite signal transmitted from a GNSS satellite that is the positioning satellite. A possible GNSS positioning device is included, and the base station positioning device includes a QZSS positioning device capable of receiving a satellite signal transmitted from the other positioning satellite, the QZSS satellite.

The positioning system of the work machine includes a correction information calculation unit that calculates correction information corresponding to the reference point based on at least a satellite signal received by the QZSS positioning device, and the correction information calculation unit calculates the correction information for the satellite signal. The correction information is calculated based on the correction information.
The positioning system for a working machine includes a plan creating unit that creates a work plan including a workplace and a working machine that performs work in the workplace, and the reference point setting unit performs the work in the workplace indicated by the work plan. When a machine exists, the reference point is set based on the first position of the work machine.

The positioning system of the working machine is configured such that a moving range calculating unit that calculates a moving range in which a predetermined working machine moves in the workplace in the work plan, and the reference point setting unit is based on the moving range obtained by the moving range calculation. The reference point is set.
A method for determining a first position, which is a position of the work machine, based on a satellite signal transmitted from a positioning satellite; transmitting the first position from the work machine to the outside; Receiving a first position transmitted from the mobile station, setting a reference point based on the received first position, obtaining a first position from a satellite signal of a positioning satellite corresponding to the reference point and different from the positioning satellite. Transmitting the corrected information to the work implement, receiving the correction information by the work implement, and, based on the correction information and the satellite signal, determining a second position of the work implement during operation. Seeking step.

  In the step of setting the reference point, the common reference point of the satellite positioning devices mounted on the plurality of working machines is set based on the first positions of the plurality of working machines.

  ADVANTAGE OF THE INVENTION According to this invention, highly accurate positioning can be performed with respect to the working machine which performs work in various places.

It is a figure showing a positioning system of a work machine. It is a figure showing composition and a control block diagram of a tractor. It is a figure showing the state where the mobile station positioning device was attached to the roof of the cabin. FIG. 4 is an explanatory diagram for explaining setting of a reference point BP1. FIG. 5 is a diagram illustrating an operation flow of a positioning method of a work machine. FIG. 3 is an explanatory diagram illustrating automatic steering. It is a figure showing an example of plan creation screen M1. It is a figure showing an example of a work plan. FIG. 4 is an explanatory diagram of a method of obtaining a reference point based on a moving distance of a work machine. 1 is an overall view of a tractor.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in FIG. 1, the work equipment positioning system sets a reference point for performing positioning based on the position of the work equipment 1 on the mobile station side by the base station positioning apparatus 70 on the base station side. It is a system that can do. The working machine is an agricultural machine such as a tractor, a combine, or a rice transplanter, or a construction machine such as a backhoe or a loader.

First, the working machine on the mobile station side will be described using the tractor 1 as an example.
As shown in FIG. 8, the tractor 1 includes a traveling vehicle (traveling vehicle body) 3 having a traveling device 7, a motor 4, and a transmission 5. The traveling device 7 is a device having a front wheel 7F and a rear wheel 7R. The front wheel 7F may be a tire type or a crawler type. Also, the rear wheel 7 may be of a tire type or a crawler type. The prime mover 4 is a diesel engine, an electric motor, or the like. The transmission 5 can switch the propulsion force of the traveling device 7 by changing the speed, and can switch the traveling device 7 between forward and reverse. The traveling vehicle 3 is provided with a cabin 9, and a driver's seat 10 is provided in the cabin 9.

  In addition, a connecting portion 8 including a three-point link mechanism is provided at a rear portion of the traveling vehicle 3. The working device 2 is detachable from the connecting portion 8. By connecting the working device 2 to the connecting portion 8, the working device 2 can be towed by the traveling vehicle 3. The working device 2 includes a tilling device for tilling, a fertilizer spraying device for spraying fertilizer, a pesticide spraying device for spraying pesticides, a harvesting device for harvesting, a cutting device for cutting grass and the like, a diffusion device for spreading grass and the like, A grass collecting apparatus for collecting grass and the like, a forming apparatus for forming grass and the like, and the like. FIG. 8 shows an example in which a tilling device is attached as the working device 2.

  As shown in FIG. 2, the transmission 5 includes a main shaft (propulsion shaft) 5a, a main transmission unit 5b, an auxiliary transmission unit 5c, a shuttle unit 5d, and a PTO power transmission unit 5e. The propulsion shaft 5 a is rotatably supported by a housing case of the transmission 5, and power from the crankshaft of the engine 4 is transmitted to the propulsion shaft 5 a. The main transmission unit 5b has a plurality of gears and a shifter that changes the connection of the gears. The main transmission unit 5b changes and outputs (shifts) the rotation input from the propulsion shaft 5a by appropriately changing the connection (engagement) of the plurality of gears with a shifter.

The subtransmission unit 5c has a plurality of gears and a shifter that changes the connection of the gears, similarly to the main transmission unit 5b. The subtransmission unit 5c changes and outputs (shifts) the rotation input from the main transmission unit 5b by appropriately changing the connection (engagement) of the plurality of gears with a shifter.
The shuttle unit 5d has a shuttle shaft 12 and a forward / reverse switching unit 13. The power output from the auxiliary transmission unit 5c is transmitted to the shuttle shaft 12 via gears or the like. The forward / reverse switching unit 13 is configured by, for example, a hydraulic clutch or the like, and switches the rotation direction of the shuttle shaft 12, that is, the forward / backward movement of the tractor 1 by turning on / off the hydraulic clutch. The shuttle shaft 12 is connected to a rear wheel differential device. The rear wheel differential device rotatably supports a rear axle to which the rear wheel 7R is attached.

  The PTO power transmission unit 5e has a PTO propulsion shaft 14 and a PTO clutch 15. The PTO propulsion shaft 14 is rotatably supported, and can transmit power from the propulsion shaft 5a. The PTO propulsion shaft 14 is connected to the PTO shaft 16 via a gear or the like. The PTO clutch 15 is composed of, for example, a hydraulic clutch or the like, and the power of the propulsion shaft 5a is transmitted to the PTO propulsion shaft 14 when the hydraulic clutch is turned on and off, and the power of the propulsion shaft 5a is not transmitted to the PTO propulsion shaft 14. Switch to the state.

  As shown in FIG. 2, the tractor 1 includes a steering device 11. The steering device 11 includes a steering wheel (steering wheel) 11a, a steering shaft (rotating shaft) 11b that rotates with the rotation of the steering wheel 11a, and an assist mechanism (power steering mechanism) 11c that assists steering of the steering wheel 11a. are doing. The auxiliary mechanism 11c includes a hydraulic pump 21, a control valve 22 to which hydraulic oil discharged from the hydraulic pump 21 is supplied, and a steering cylinder 23 operated by the control valve 22. The control valve 22 is an electromagnetic valve that operates based on a control signal. The control valve 22 is, for example, a three-position switching valve that can be switched by moving a spool or the like. The control valve 22 can also be switched by steering the steering shaft 11b. The steering cylinder 23 is connected to an arm (knuckle arm) 24 that changes the direction of the front wheel 7F.

  Therefore, when the driver operates the steering wheel 11a, the switching position and the opening degree of the control valve 22 are switched according to the steering wheel 11a, and the steering cylinder 23 is moved left or right according to the switching position and the opening degree of the control valve 22. By expanding and contracting to the right, the steering direction of the front wheel 7F can be changed. That is, the steering of the tractor 1 (the traveling vehicle body 3) can be manually performed by the steering mechanism 11.

  The steering of the tractor 1 (the traveling vehicle body 3) can be automatically performed. As shown in FIG. 2, the steering device 11 has an automatic steering mechanism 25. The automatic steering mechanism 25 is a mechanism that performs automatic steering of the traveling vehicle body 3, and automatically steers the traveling vehicle body 3 based on the position of the traveling vehicle body 3 (vehicle position) and a preset traveling line. The automatic steering mechanism 25 includes a steering motor 26 and a gear mechanism 27. The steering motor 26 is a motor whose rotation direction, rotation speed, rotation angle, and the like can be controlled based on the current position. The gear mechanism 27 includes a gear provided on the steering shaft 11b and rotating with the steering shaft 11b, and a gear provided on the rotating shaft of the steering motor 26 and rotating with the rotating shaft. When the rotation shaft of the steering motor 26 rotates, the steering shaft 11b automatically rotates (rotates) via the gear mechanism 27, and changes the steering direction of the front wheels 7F so that the vehicle body position coincides with the planned traveling line. can do. The above-described steering mechanism 11 is an example, and is not limited to the above-described configuration.

  The tractor 1 includes a control device 17 and a communication device 18. The control device 17 is based on an operation signal when operating an operation tool (operation lever, operation switch, operation volume, etc.) installed around the driver's seat, detection signals of various sensors mounted on the traveling vehicle body 3, and the like. To control the traveling system and the working system of the tractor 1. For example, the control device 17 performs control to raise and lower the working device 2 based on an operation of the operating tool (operation signal), and controls the rotation speed of the prime mover 4 based on an accelerator pedal sensor. Note that the control device 17 only needs to control the working system and the traveling system of the tractor, and the control method is not limited.

  The communication device 18 is a short-range communication device or a communication device that performs wireless communication through a mobile phone communication network, a data communication network, a mobile phone communication network, or the like, and outputs at least information on the tractor 1 to the outside. The communication system of the communication device 18 is not limited, and may be, for example, the communication standard IEEE 802.15.1 series, the communication standard IEEE 802.11 series, or another communication system.

As shown in FIGS. 1 and 3, the tractor 1 includes a mobile station positioning device 30. The mobile station positioning device 30 is a device that performs positioning based on a satellite signal transmitted from a positioning satellite. Specifically, the mobile station positioning device 30 performs positioning based on a satellite signal of the GNSS satellite 101 such as a GPS (Global Positioning System) and correction information transmitted from the base station.
As shown in FIG. 3, the mobile station positioning device 30 includes a housing 31a, and the housing 31a is provided in the cabin 9 of the tractor 1. The housing 31a of the mobile station positioning device 30 is arranged at the center in the width direction of the roof 9a of the cabin 9. As shown in FIG. 1, an antenna 31b, a signal processing unit 31c, a first position calculation unit 31d, and a position transmission unit 31e are stored inside a housing 31a.

The signal processing unit 31c, the first position calculation unit 31d, and the position transmission unit 31e are electronic / electronic components such as an MPU and a CPU provided in the mobile station positioning device 30, or programs stored in the MPU, the CPU, and the like. It is configured.
The antenna 31b is an antenna that receives a satellite signal (first satellite signal) of the GNSS satellite 101. The antenna 31b receives the L1 signal (center frequency 1575.42 MHz) and the L2 signal (center frequency 1227.60 MHz) transmitted from the GNSS satellite 101 as the first satellite signal. The L1 signal includes a navigation message, a C / A code, and an L1 carrier, and the L2 signal includes at least an L2 carrier.

The signal processing unit 31c is a unit that processes a satellite signal received by the antenna 31b, and generates observation data by, for example, amplifying and demodulating the L1 signal and the L2 signal received by the antenna 31b.
The first position calculation unit 31d calculates a position (first position) based on the observation data (demodulated L1 signal and L2 signal) output from the signal processing unit 31c. That is, the first position calculation unit 31d performs the single positioning based on the observation data (first observation data) of the GNSS satellite 101.

The position transmitting unit 31e transmits the first position obtained by the first position calculating unit 31d to the outside. Specifically, the position transmitting unit 31e is included in the communication device 18 described above, and transmits at least the first position to the base station positioning device 70.
As described above, according to the mobile station positioning device 30, for example, the current position (first position) of the tractor 1 can be transmitted to the base station positioning device 70.

Next, the base station positioning device 70 will be described.
As shown in FIG. 1, the base station positioning device 70 includes an antenna 71a, an antenna 71b, a signal processing unit 71c, a position receiving unit 71d, a reference point setting unit 71e, a correction information calculating unit 71f, and a correction information transmitting unit 71g. And The signal processing unit 71c, the position receiving unit 71d, the reference point setting unit 71e, the correction information calculating unit 71f, and the correction information transmitting unit 71g are electronic / electronic components such as an MPU and a CPU, or programs stored in the MPU and the CPU. And so on.

  The antenna 71a receives the first satellite signal of the GNSS satellite 101, and receives the L1 signal and the L2 signal. The antenna 71b is an antenna for receiving a satellite signal (second satellite signal) of a quasi-zenith satellite (QZSS (Quasi-Zenith Satellite System) satellite) 102 such as Michibiki. The antenna 71b receives at least the L6 signal (center frequency 1278.75 MHz) transmitted from the QZSS satellite 102 as the second satellite signal. The L6 signal includes correction information (centimeter-level positioning reinforcement information). The correction information includes satellite clock error information, satellite signal bias error information, satellite orbit error information, tropospheric propagation error information, ionospheric propagation error information, and the like. Note that the antenna 71b may receive the L1 signal and the L2 signal transmitted from the QZSS satellite 102 as the second satellite signal. That is, positioning may be performed based on the satellite signal of the QZSS satellite 102.

The signal processing unit 71c is a part that processes satellite signals (first satellite signal and second satellite signal) received by the antennas 71a and 71b, and for example, amplifies the L1 signal and the signal L2 received by the antenna 71a. Observation data is generated by performing demodulation and amplification and demodulation of the L6 signal received by the antenna 71b.
The position receiving unit 71d receives the position transmitting unit 31e provided in the tractor 1, that is, the first position transmitted from the mobile station positioning device 30. Specifically, the position receiving unit 71d is a communication device that performs wireless communication through a short-range communication device or a mobile phone communication network, a data communication network, a mobile phone communication network, or the like. Receiving the transmitted first position.

  As illustrated in FIG. 4, the reference point setting unit 71e determines the reference point BP1 based on the plurality of first positions Pn (n = 1, 2, 3,... N) of the tractor 1 received by the position receiving unit 71d. Set. For example, when a circular area whose center is the reference point BP1 and whose diameter is the base line length L10 is the positioning area A1, the reference point setting unit 71e transmits all the first positions Pn (n = n) received by the position receiving unit 71d. The reference point BP1 is set so as to include all of (1, 2, 3... N). The base line length L10 is a predetermined length and is set to 5 km to 10 km. Note that the base line length L10 is not limited to the example described above, and may be registered for each base station positioning device 70. Also, the shape of the positioning area A1 may be rectangular other than circular, and is not limited.

  For example, a plurality of tractors 1A, 1B, and 1C are located in predetermined fields, respectively, the first position of the tractor 1A is “P1”, the first position of the tractor 1B is “P2”, and the first position of the tractor 1C is It is assumed that “P3”. The reference point setting unit 71e sets the positioning area A1 including all of the first positions P1, P2, and P3, and sets the center position of the positioning area A1 as the reference point BP1. When there are a plurality of candidates for the positioning area A1 (reference point BP1), the reference point setting unit 71e determines that the distance between the reference point BP1 and the first position P1, P2, P3 among the plurality of reference points BP1. The shortest (minimum) position may be determined as the reference point BP1.

That is, the reference point setting unit 71e sets a common reference point BP1 of the mobile station positioning device 30 provided in each of the plurality of tractors 1 based on the plurality of first positions Pn of the tractor 1. Further, the reference point setting unit 71e sets the reference point BP1 such that the first area Pn of the plurality of tractors 1 is included in the positioning area A1 set by the reference point BP1 and the base line length L10.
The correction information calculation section 71f calculates correction information corresponding to the reference point BP1 set by the reference point setting section 71e. Specifically, the correction information calculation unit 71f calculates at least the satellite clock error, the satellite signal bias error, the satellite orbit error, and the tropospheric propagation error at the reference point BP1 from the L6 signal included in the second satellite signal transmitted from the QZSS satellite 102. , An ionospheric propagation error is obtained, and information including the obtained error is set as correction information.

  The correction information transmission unit 71g is the correction information calculated by the correction information calculation unit 71f, that is, the correction information. The correction information corresponding to the reference point BP1 is transmitted to the tractor 1. Specifically, when the calculation of the correction information by the correction information calculation unit 71f is completed, the correction information transmitting unit 71g transmits the calculated correction information to the predetermined tractor 1, that is, the first position to the base station positioning device 70. It transmits to a predetermined tractor 1 (for example, 1A, 1B, 1C). In other words, the correction information transmitting unit 71g transmits the correction information to the mobile station positioning device 30 that has transmitted the first position used in setting the reference point BP1.

According to the above, when the base station positioning device 70 receives a plurality of first positions Pn from the tractor 1 side (mobile station positioning device 30), the base station positioning device 70 sets the reference including at least the plurality of first positions Pn. The point BP1 is set, the correction information corresponding to the reference point BP1 is calculated, and the correction information corresponding to the tractor 1 (mobile station positioning device 30) can be transmitted.
The tractor 1 (mobile station positioning device 30) performs positioning using the correction information transmitted from the base station positioning device 70. The mobile station positioning device 30 includes a correction receiving unit 31f and a second position calculating unit 31g. The correction receiving unit 31f and the second position calculating unit 31g are configured by electronic / electronic components such as an MPU and a CPU provided in the mobile station positioning device 30, or programs stored in the MPU and the CPU.

The correction receiving unit 31f receives correction information (correction information corresponding to the reference point BP1) transmitted from the base station positioning device 70. The correction receiving unit 31f is included in the communication device 18, and receives the correction information when the correction information transmitted from the base station positioning device 70 is addressed to itself.
When the correction receiving unit 31f receives the correction information, the second position calculation unit 31g transmits the received correction information (including a satellite clock error, a satellite signal bias error, a satellite orbit error, a tropospheric propagation error, and an ionospheric propagation error) and an antenna Using the L1 signal and the observation information of the L2 signal (navigation message, C / A code, L1 carrier, etc.) received by 31b, the physical second position of the mobile station positioning device 30 is obtained. For example, the second position calculation unit 31g obtains a second position when the tractor 1 is operating, such as when the tractor 1 is traveling, when the tractor 1 is driving the work device 2, and the like.

FIG. 5 is a flowchart summarizing the operation flow of the positioning method of the work implement, that is, the operation from obtaining the first position of the tractor 1 to obtaining the second position. Note that the first position, the second position, the reference point, and the method of obtaining the correction information are the same as in the above-described embodiment, and thus the description is omitted.
As shown in FIG. 5, the first position Pn of the tractor 1 is obtained by the mobile station positioning device 30 based on the first satellite signal of the GNSS satellite 101 (S1). When the mobile station positioning device 30 obtains the first position, the obtained first position Pn is transmitted from the tractor 1 to the external base station positioning device 70 (S2). The base station positioning device 70 receives the first position Pn transmitted from the tractor 1 (mobile station positioning device 30) (S3), and sets a reference point based on the received first position Pn (S4: reference point). Configuration steps). In the reference point setting step, a common reference point BP1 of the plurality of satellite positioning devices 30 is set based on the first positions Pn of the plurality of tractors.

  After setting the reference point BP1, the base station positioning apparatus 70 obtains correction information corresponding to the reference point BP1, and transmits the obtained correction information to the tractor 1 on the mobile station side (S5). The tractor 1 on the mobile station side receives the correction information (S6), and the mobile station positioning device 30 mounted on the tractor 1 that has received the correction information operates based on the correction information and the first satellite signal of the GNSS satellite. The second position at the time is obtained (S7).

  According to the above, the reference point BP1 common to the tractor 1 (mobile station positioning device 30) can be set based on the first positions Pn of the plurality of tractors 1, and the correction information corresponding to the reference point BP1 can be set. Can be requested. Further, since the tractor 1 can receive the correction information corresponding to the reference point BP1, the second position of the tractor 1 can be accurately obtained using the correction information.

The control device 17 of each of the plurality of tractors 1 can perform automatic steering based on the positioning result such as the second position (latitude and longitude) obtained by the mobile station positioning device 30.
FIG. 6 shows the relationship between the position of the tractor 1 (tractor 1A, tractor 1B, tractor 1C) and the planned traveling line Z2 in automatic steering. Hereinafter, the automatic steering will be described using the tractor 1A as an example.

  The scheduled traveling line Z2 is set in advance by a terminal 90 (see FIG. 1) such as a personal computer or a portable terminal (smartphone, tablet), and is transferred to the control device 17 or the like by wireless communication, wired communication, or a storage medium. The tractor 1 may be provided with a display device 51 of a touch panel type or the like so that the travel schedule line Z2 can be input to the display device 51. The travel schedule line Z2 is associated with the latitude and longitude at the time of setting.

  In the tractor 1A, when an automatic steering is instructed to the control device 17 by an operator performing a predetermined operation, the control device 17 uses the second position obtained by the mobile station positioning device 30 (using the correction information). The calculated position) is acquired as the position (vehicle position) Z1 of the traveling vehicle body 3. As shown in FIG. 6, when the deviation (position deviation) ΔL1 between the vehicle body position Z1 and the planned traveling line Z2 is less than the threshold, the control device 17 maintains the rotation angle of the rotation shaft of the steering motor 26. When the positional deviation ΔL1 between the vehicle body position Z1 and the planned traveling line Z2 is equal to or larger than the threshold value and the tractor 1A is located on the left side of the planned traveling line Z2, the control device 17 determines that the steering direction of the tractor 1A is The rotation shaft of the steering motor 26 is rotated to the right. When the positional deviation ΔL1 between the vehicle body position Z1 and the planned traveling line Z2 is equal to or larger than the threshold value and the tractor 1A is located on the right side of the planned traveling line Z2, the control device 17 determines that the steering direction of the tractor 1A is The rotation shaft of the steering motor 26 is rotated to the left.

  In the above-described embodiment, the steering angle of the steering device 11 is changed based on the positional deviation ΔL1 between the vehicle body position Z1 and the planned traveling line Z2. However, the azimuth (line direction) F2 of the planned traveling line Z2 and the tractor 1A If the direction (vehicle direction) F1 of the traveling direction of the vehicle is different, the control device 17 may set the steering angle such that the vehicle direction F1 of the tractor 1A matches the line direction F2 of the planned traveling line Z2. In this case, the control device 17 obtains the azimuth difference ΔF between the vehicle body azimuth F1 and the line azimuth F2, and changes the steering angle of the steering device 11 so that the azimuth difference ΔF becomes zero. The setting of the steering angle in the automatic steering in the above-described embodiment is an example, and is not limited.

Now, as shown in FIG. 1, the positioning system of the work implement may include a plan creation unit 81. The plan creation unit 81 is configured by electronic / electronic parts such as an MPU and a CPU provided in the management server 80, or programs stored in the MPU and the CPU.
The plan creation unit 81 creates a work plan including a workplace such as a field and a work machine that performs work in the workplace. When a terminal 90 of a personal computer or a mobile terminal (smartphone, tablet) connects to the management server 80 and makes a request for creating a work plan from the terminal 90 to the management server 80, the management server 80 returns to FIG. As shown, a plan creation screen M1 for creating a work plan is displayed on the terminal 80. On the plan creation screen M1, a work plan 85a, work time 85b such as date and time, work contents 85c such as plowing, scraping, harvesting, reaping, weeding, chemical spraying, fertilization, and the like, and a work plan such as a work machine 85d for performing work are input. be able to. When a work plan is input on the work creation screen M1, as shown in FIG. 7B, the work plan is stored in the management server 80 together with management information.

  Further, the management server 80 transmits the work plan to the base station positioning device 70. The reference point setting unit 71e of the base station positioning device 70 refers to the work plan transmitted from the management server 80, and if the planned tractor 1 exists in the workplace indicated in the work plan, The reference point BP1 is set based on the transmitted first position Pn. It is assumed that the base station positioning device 70 has obtained a work plan as shown in FIG. 7B and work plans with management numbers KB-33560A701 to KB-33560A705. The reference point setting unit 71e determines whether or not the first position Pn transmitted to the tractors 1A, 1B, and 1C exists in the field indicated in the work plan on May 22, 2018. For example, the reference point setting unit 71e sets the first position Pn transmitted from the tractors 1A, 1B, and 1C and the planned fields (field A, field J, field F, and field B) that are the fields indicated in the work plan. If the first position Pn is located in the planned field by comparing the positions, it is determined that the tractors 1A, 1B, and 1C are present in the planned field. As shown in FIG. 7B, the tractor 1B is planned to work in the field B and the field F. Therefore, the reference point setting unit 71e sets the first position Pn of the tractor 1B to the field F and the field R. , The tractor 1B determines that the vehicle is present in the planned field.

As described above, when determining that the tractors 1A, 1B, and 1C are located in the planned fields, the reference point setting unit 71e described above based on the first positions Pn of the tractors 1A, 1B, and 1C. Thus, the reference point BP1 is set.
In the above-described embodiment, the reference point BP1 is set based on the first position Pn. In addition, the reference point BP1 may be obtained based on the first position Pn and the moving range of the tractor 1. .

  As shown in FIG. 1, the positioning system of the work implement includes a movement range calculation unit 82. The movement range calculation unit 82 is configured by an electronic / electronic component such as an MPU and a CPU provided in the management server 80, or a program and the like stored in the MPU and the CPU. The movement range calculation unit 82 determines a movement range in which the predetermined tractor 1 moves in the work place in the work plan. As shown in FIG. 7B, when the work plan is set, the movement range calculation unit 82 obtains the movement range of each of the tractors 1A, 1B, and 1C for a predetermined time, for example, on May 22, 2018. As shown in FIGS. 7B and 7C, in the work plan of May 22, 2018, the moving range of the tractor 1C is the field A, the moving range of the tractor 1B is the field F to the field R, and the moving range of the tractor 1A. Is the field J. Here, the moving range calculation unit 82 calculates the moving range L11 of the tractor 1B having the longest moving range (moving distance) among the plurality of tractors 1 (1A, 1B, 1C). In the case of the tractor 1B, the movement range calculation unit 82 calculates the distance from the field F to the field R based on the field position stored in advance, and sets the obtained distance as the movement distance L11.

  The reference point setting unit 71e sets the reference point BP1 based on the movement range L11 obtained by the movement range calculation unit 82. For example, the reference point setting unit 71e adds the moving distance L11 to the current position (first position) Pn2a of the tractor 1B having the longest moving distance L11, and thereby the position (planned work position) Pn2b where the tractor 1B is farthest away. Is obtained, and a reference point BP1 including the first position P1 of the tractor 1A, the first position P3 of the tractor 1C, and the planned work position P2b of the tractor 1B is obtained. The method of calculating the reference point BP1 based on the movement range L11 of the reference setting unit 71 described above is an example and is not limited.

  The positioning system for the working machine is provided in the working machine 1 and obtains a first position calculating section 31d for obtaining a first position Pn based on a satellite signal transmitted from a positioning satellite. A position transmitter 31e capable of transmitting the first position Pn obtained by the calculator 31d, a position receiver 71d receiving the first position Pn transmitted from the position transmitter 31e, and a work machine received by the position receiver 71d And a reference point setting unit 71e for setting a reference point BP1 based on the first position Pn of the first position Pn, and a reference point BP1 set by the reference point setting unit 71e and obtained from a satellite signal of another positioning satellite different from the positioning satellite. A correction information transmitting unit 71g that transmits the received correction information to the working machine; a correction receiving unit 31f that is provided in the working machine 1 and receives the correction information transmitted from the correction information transmitting unit 71g; And Correction information and based on the satellite signal comprises a second position calculation unit 31g for obtaining the second position is the position during operation of the working machine, the. According to this, for example, in the work machine 1, the reference point BP1 can be set based on the first position Pn obtained by the first position calculation unit 31d before work or the like, and the correction corresponding to the set reference point BP1 Using the information, the second position of the work implement 1 that has transmitted the first position Pn can be measured with high accuracy.

  In the positioning system of the working machine, the first position calculating unit 31d and the second position calculating unit 31g are provided in the mobile station positioning device 30 provided in the working machine 1, and the reference point setting unit 71e performs a plurality of tasks. Based on the first position Pn of the device, a common reference point BP1 of the mobile station positioning device 30 provided for each of the plurality of working devices 1 is set. According to this, the common reference point BP1 corresponding to the plurality of working machines can be obtained, and the positions (second positions) of the plurality of working machines can be obtained using the correction information at the common reference point BP1. it can.

  The reference point setting unit 71e sets the reference point BP1 such that the positioning area A1 set by the reference point BP1 and the predetermined base line length L10 includes the first positions Pn of the plurality of working machines. According to this, since the reference point BP1 is set in the positioning area A1 determined by the base line length L10, even if the moving range of the plurality of working machines is relatively wide, the positions (second positions) of the plurality of working machines are determined. It can be obtained with high accuracy using the correction information at the reference point BP1.

  The position receiving unit 71d, the reference point setting unit 71e, and the correction information transmitting unit 71g are provided in a predetermined base station positioning device 70, and the mobile station positioning device 30 is transmitted from a GNSS satellite that is a positioning satellite. The base station positioning device 70 includes a GNSS positioning device that can receive a satellite signal, and the QZSS positioning device that can receive a satellite signal transmitted from another QZSS satellite, which is a positioning satellite. According to this, even if the mobile station positioning device 30 provided in the work machine 1 is a GNSS positioning device capable of receiving a satellite signal transmitted from a GNSS satellite, the work machine The position 1 (the second position) can be obtained with high accuracy.

  The positioning system of the work machine includes a correction information calculation unit 71f that calculates correction information corresponding to the reference point BP1 based on at least a satellite signal received by the QZSS positioning device. To calculate the correction information. According to this, it is possible to perform centimeter-level positioning with a small error by the satellite signal received by the QZSS positioning device.

  The positioning system of the working machine includes a plan creating unit 81 that creates a work plan including a workplace and a working machine that performs work in the workplace. The reference point setting unit 71e determines that the working machine exists in the workplace indicated by the work plan. In this case, the reference point BP1 is set based on the first position Pn of the work machine. According to this, when the work performed in the workplace is performed by the work machine 1, the position (second position) of the work machine 1 can be efficiently obtained in accordance with the work plan. For example, a position (second position) corresponding to a work plan can be obtained even when a plurality of work machines perform work in various work places.

  The positioning system of the work equipment includes a movement range calculation unit 82 that obtains a movement range L11 in which a predetermined work equipment moves in the work place in a work plan, and the reference point setting unit 71e calculates the movement range L11 obtained by the movement range calculation unit 82. The reference point BP1 is set on the basis of. According to this, since the reference point BP1 is set in advance in consideration of the movement range L11 in which the work machine 1 moves based on the work plan, the work machine 1 is too far from the reference point BP1, and the positioning accuracy is reduced. Can be prevented.

  The positioning method of the working machine includes a step of obtaining a first position Pn which is a position of the working machine based on a satellite signal transmitted from a positioning satellite; a step of transmitting the first position Pn from the working machine to the outside; Receiving the first position Pn transmitted from the base station, setting the reference point BP1 based on the received first position Pn, and determining the reference point BP1 from a satellite signal of a positioning satellite corresponding to the reference point BP1 and different from the positioning satellite. Transmitting the obtained correction information to the work implement, receiving the correction information by the work implement, and obtaining a second position, which is the position of the work implement during operation, based on the correction information and the satellite signal. , Is provided. According to this, for example, in the work machine 1, the reference point BP1 can be set based on the first position Pn obtained by the first position calculation unit 31d before work or the like, and the correction corresponding to the set reference point BP1 Using the information, the second position of the work implement 1 that has transmitted the first position Pn can be measured with high accuracy.

In the step of setting the reference point BP1, a common reference point BP1 of the satellite positioning device mounted on the plurality of working machines is set based on the first positions Pn of the plurality of working machines. According to this, the common reference point BP1 corresponding to the plurality of working machines can be obtained, and the positions (second positions) of the plurality of working machines can be obtained using the correction information at the common reference point BP1. it can.
The embodiments disclosed this time are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

1 tractor (work equipment)
Reference Signs List 30 mobile station positioning device 31d first position calculating unit 31e position transmitting unit 31f correction receiving unit 31g second position calculating unit 70 base station positioning device 71d position receiving unit 71e reference point setting unit 71g correction information transmitting unit 71f correction information calculating unit 81 Plan making unit 82 Moving range calculation unit Pn First position L10 Base line length L11 Moving range

Claims (9)

A first position calculation unit provided in the work machine and for obtaining a first position based on a satellite signal transmitted from a positioning satellite;
A position transmitting unit provided in the work machine and capable of transmitting the first position obtained by the first position calculating unit;
A position receiving unit that receives the first position transmitted from the position transmitting unit;
A reference point setting unit that sets a reference point based on the first position of the work implement received by the position receiving unit;
A correction information transmitting unit that transmits correction information obtained from a satellite signal of another positioning satellite different from the positioning satellite to the work implement, corresponding to the reference point set by the reference point setting unit;
A correction receiving unit that is provided in the work machine and receives the correction information transmitted from the correction information transmitting unit,
A second position calculation unit provided in the work machine and for obtaining a second position that is a position at the time of operation of the work machine based on the correction information and the satellite signal;
A working machine positioning system equipped with: The first position calculation unit and the second position calculation unit are provided in a mobile station positioning device provided in the work machine,
2. The reference point setting unit according to claim 1, wherein the reference point setting unit sets the common reference point of the mobile station positioning device provided in each of the plurality of work machines based on first positions of the plurality of work machines. 3. Work machine positioning system.   The said reference point setting part sets the said reference point so that the positioning area set by the said reference point and predetermined base line length may contain the 1st position of this some working machine. The positioning system for a working machine according to item 1. The position receiving unit, the reference point setting unit and the correction information transmitting unit are a predetermined base station positioning device,
The mobile station positioning device includes a GNSS positioning device capable of receiving a satellite signal transmitted from the GNSS satellite that is the positioning satellite, and the base station positioning device is transmitted from the QZSS satellite that is the other positioning satellite. The positioning system for a working machine according to claim 2, further comprising a QZSS positioning device capable of receiving a satellite signal.   A correction information calculation unit configured to calculate correction information corresponding to the reference point based on at least a satellite signal received by the QZSS positioning device, wherein the correction information calculation unit calculates the correction information based on the satellite signal The positioning system for a working machine according to claim 4. A workplace and a work machine that performs work in the workplace, comprising a plan creation unit that creates a work plan,
The said reference point setting part sets the said reference point based on the 1st position of the said working machine, when the said working machine exists in the said work place shown by the said work plan. The positioning system for a working machine according to item 1. The work plan includes a movement range calculation unit that determines a movement range in which a predetermined work implement moves in the work place,
The positioning system for a working machine according to claim 6, wherein the reference point setting unit sets the reference point based on the movement range obtained by the movement range calculation unit. Obtaining a first position which is a position of the work implement based on a satellite signal transmitted from the positioning satellite;
Transmitting the first position from the work implement to the outside, and receiving the first position transmitted from the work implement;
Setting a reference point based on the received first position;
Transmitting correction information corresponding to the reference point and obtained from a satellite signal of a positioning satellite different from the positioning satellite to the work implement;
A step in which the work implement receives the correction information, and a step of obtaining a second position, which is the position of the work implement during operation, based on the correction information and the satellite signal;
A working machine positioning method equipped with:   The work machine according to claim 8, wherein in the step of setting the reference point, the common reference point of a satellite positioning device mounted on the plurality of work machines is set based on a first position of the plurality of work machines. Positioning method.