JP2020115108A - Reference station display system - Google Patents

Abstract

To provide a reference station display system that, even when the position of a reference station is different between during registration of a travel area and during autonomous travel, allows an operator to intuitively grasp a position at which the reference station during autonomous travel should be set.SOLUTION: A reference station display system comprises: a position acquisition unit; an area registration unit; and a display control unit. The position acquisition unit acquires a position of a rice transplanter for causing the rice transplanter to autonomously travel along a travel route created in a travel area, based on positioning correction information acquired from a first reference station. The area registration unit acquires a position used for specifying the shape of the travel area based on positioning correction information acquired from a second reference station, and registers the travel route. When performing settings related to autonomous travel of the rice transplanter, the display control unit performs control of displaying, on a display unit, a map and the position of the second reference station on the map.SELECTED DRAWING: Figure 8

Description

The present invention mainly relates to a reference station display system that displays a reference station that generates positioning correction information.

2. Description of the Related Art Conventionally, there is known a technique for autonomously traveling a work vehicle along a travel route. In order for the work vehicle to travel autonomously, it is necessary to register a travel area in which the work vehicle travels in advance and create a travel route in this travel area. Here, the position of the work vehicle during autonomous traveling and the position for registering the traveling area are calculated using GNSS technology or the like. Further, the position accuracy can be improved by calculating the position using the positioning correction information generated by the reference station whose position is already known.

In Patent Document 1, identification information and latitude/longitude of a reference station used at the time of registration of a travel area, and identification information and latitude/longitude of a reference station for acquiring the current position of a work vehicle can be displayed on a wireless communication terminal. It is disclosed.

Japanese Unexamined Patent Application Publication No. 2018-147164

Here, since different base stations have different positioning correction information, it is necessary to use the same base station as in the registration of the traveling area during autonomous traveling. However, as in Patent Document 1, only by displaying the information regarding both reference stations in characters, when the reference stations are different, at which position should the reference station be set (the reference station arranged at which position may be used. It is impossible for the operator to intuitively grasp

The present invention has been made in view of the above circumstances, and a main object thereof is to set a reference station for autonomous traveling even when the position of the reference station is different during registration of the traveling area and during autonomous traveling. An object is to provide a reference station display system that allows an operator to intuitively grasp the position.

Means and effects for solving the problems

The problem to be solved by the present invention is as described above. Next, the means for solving the problem and the effect thereof will be described.

According to a first aspect of the present invention, there is provided a reference station display system having the following configuration. That is, this reference station display system includes a position acquisition unit, a region registration unit, and a display control unit. The position acquisition unit acquires the position of the work vehicle for autonomously traveling the work vehicle along the travel route created in the travel area, based on the positioning correction information acquired from the first reference station. The area registration unit acquires the position used for specifying the shape of the travel area based on the positioning correction information acquired from the second reference station and registers the travel route. The display control unit performs control to display a map and the position of the second reference station on the map on the display unit when setting the autonomous traveling of the work vehicle.

With this, since the position of the second reference station can be displayed on the map, even if the positions of the first reference station and the second reference station are different, the operator intuitively determines the position where the first reference station should be set. You can figure it out.

The reference station display system preferably has the following configuration. That is, this reference station display system includes a determination unit that determines whether the positions of the first reference station and the second reference station match. When the determination unit determines that the position of the first reference station and the position of the second reference station do not match, the display control unit further determines that the position of the first reference station and the position of the second reference station are the same. Control is performed to display a warning indicating that no action has been taken on the display unit.

Thereby, the operator can easily grasp whether the position of the first reference station and the position of the second reference station are different.

In the reference station display system, the display control unit further displays a map and the position of the first reference station on the map on the display unit when setting the work vehicle for autonomous traveling. It is preferable to perform control.

Thereby, the operator can easily grasp whether the position of the first reference station and the position of the second reference station are different. When the first reference station is portable, the operator can easily know where to move the first reference station.

In the reference station display system, the position of the first reference station does not match the position of the second reference station, the reference station exists at the position of the second reference station, and the switching operation is performed. When it is detected, it is preferable to include a reference station setting unit that performs a process of switching the reference stations so that the position of the first reference station matches the position of the second reference station.

Accordingly, the position of the first reference station can be matched with the position of the second reference station by a simple process.

According to a second aspect of the present invention, a reference station display system having the following configuration is provided. That is, this reference station display system includes a fixed station information acquisition unit, a display control unit, a reference station selection unit, a position acquisition unit, and an area registration unit. The fixed station information acquisition unit acquires position information and a communication range of a fixed reference station that is a reference station whose position is fixed. The display control unit performs control to display the position of the fixed reference station and the communication range of the fixed reference station on the map together with the map including the farm field on the display unit. The reference station selection unit selects, as the selection reference station, the fixed reference station in which the field to be registered in the traveling area is within the communication range, or receives the selection of the selection reference station. The position acquisition unit acquires the position of the work vehicle for autonomously traveling the work vehicle along the travel route created in the travel area based on the positioning correction information acquired from the selection reference station. The area registration unit acquires a position used to specify the shape of the travel area based on the positioning correction information acquired from the selection reference station, and registers the travel route.

As a result, since the position of the fixed reference station, the communication range, and the field are displayed on the map, the operator intuitively selects the fixed reference station (that is, the selected reference station) that can communicate with the entire field registered as the traveling area. it can. Further, even when the reference station selection unit makes a selection, the operator can intuitively confirm whether or not an appropriate fixed reference station is selected.

The side view of the rice transplanter regarding the reference station display system concerning one embodiment of the present invention. Top view of rice transplanter. The block diagram of a rice transplanter and a wireless communication terminal. The flowchart which shows the process which determines the reference|standard station used in order to register a farm field. The figure which shows the state in which the screen which selects the reference|standard station used in order to register a farm is displayed. The figure which shows the state in which the screen which selects the reference station used for field registration is displayed in the situation where there are a plurality of connectable reference stations. The flowchart which shows the process regarding the setting of the reference|standard station used for autonomous driving. The figure which shows the screen displayed on a wireless communication terminal, when the reference|standard station used for autonomous driving and the reference|standard station at the time of field registration do not correspond. The figure which shows the screen displayed on a radio|wireless communication terminal, when the reference|standard station used for autonomous traveling and the reference|standard station at the time of field registration match.

Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a side view of a rice transplanter 1 related to a reference station display system 100 according to an embodiment of the present invention. FIG. 2 is a plan view of the rice transplanter 1. FIG. 3 is a block diagram of the rice transplanter 1 and the wireless communication terminal 7. Further, FIG. 3 shows a reference station display system 100 and an autonomous traveling system 200.

In the present embodiment, the autonomous traveling system 200 uses the rice transplanter 1 as a work vehicle for working in a field, and the operator gives an instruction using the wireless communication terminal 7 or the like to cause the rice transplanter 1 to autonomously travel. Meanwhile, the rice transplanter 1 is made to perform work (planting work of seedlings). The work vehicle in the present invention is not limited to the rice transplanter 1, and, for example, a seeder, a tractor, a combine or the like can be used.

The autonomous traveling means that at least steering is autonomously performed along a predetermined route by controlling a device relating to traveling by the control unit included in the rice transplanter 1. In addition to the steering, the vehicle speed or the work by the work machine may be autonomously performed. The autonomous traveling includes a case where a person is on the rice transplanter 1 and a case where a person is not on the rice transplanter 1.

As shown in FIGS. 1 and 2, the rice transplanter 1 includes a vehicle body portion 11, a front wheel 12, a rear wheel 13, and a planting portion 14. The front wheels 12 and the rear wheels 13 are provided as a left and right pair with respect to the vehicle body portion 11, respectively.

The vehicle body portion 11 includes a hood 21. The hood 21 is provided at the front of the vehicle body 11. An engine 22 is provided inside the bonnet 21.

The power generated by the engine 22 is transmitted to the front wheels 12 and the rear wheels 13 via the transmission case 23. This power is also transmitted to the planting portion 14 via the mission case 23 and the PTO shaft 24 arranged at the rear portion of the vehicle body portion 11.

The vehicle body section 11 further includes a driver's seat 25 and a plurality of operation members. An operator can sit in the driver's seat 25. The driver's seat 25 is arranged between the front wheels 12 and the rear wheels 13 in the front-rear direction of the vehicle body 11. The plurality of operation members include a steering handle 26 and a shift operation pedal 27.

The rice transplanter 1 can be steered by operating the steering handle 26. By operating the shift operation pedal 27, the traveling speed (vehicle speed) of the rice transplanter 1 can be adjusted.

The planting section 14 is arranged behind the vehicle body section 11. The planting section 14 is connected to the vehicle body section 11 via a lifting link mechanism 31. The up-and-down link mechanism 31 is configured by parallel links including a top link 31a and a lower link 31b.

In the elevating link mechanism 31, the elevating cylinder 32 of the elevating device is connected to the lower link 31b. The elevating device can elevate the planting part 14 up and down with respect to the vehicle body part 11 by expanding and contracting the elevating cylinder 32. The lift cylinder 32 is a hydraulic cylinder in the present embodiment, but may be an electric cylinder. Further, the elevating device may elevate the planting portion 14 by an actuator other than the cylinder.

The planting section 14 includes a planting input case section 33, a plurality of planting units 34, a seedling mount 35, a plurality of floats 36, and a spare seedling stand 37. The planting unit 14 can sequentially supply the seedlings to the respective planting units 34 from the seedling placing table 35 and continuously plant the seedlings.

Each planting unit 34 has a planting transmission case portion 41 and a rotation case portion 42. Power is transmitted to the planted transmission case portion 41 via the PTO shaft 24 and the planted input case portion 33.

The rotating case portion 42 is rotatably attached to the planted transmission case portion 41. The rotating case portions 42 are arranged on both sides of the planted transmission case portion 41 in the vehicle width direction. Two planting claws 43 are attached to one side of each rotating case portion 42.

The two planting claws 43 are arranged in the traveling direction of the rice transplanter 1. The two planting claws 43 are displaced along with the rotation of the rotating case portion 42. By displacing the two planting claws 43, one row of seedlings is planted.

The seedling mounting table 35 is arranged in front of and above the plurality of planting units 34. A seedling mat can be placed on the seedling placing table 35. The seedling placing table 35 is configured so that the seedlings of the seedling mat placed on the seedling placing table 35 can be supplied to each planting unit 34.

Specifically, the seedling placing table 35 is configured to be movable laterally so as to reciprocate in the vehicle width direction (sliding laterally). Further, the seedling placing table 35 is configured such that the seedling mat can be intermittently vertically fed downward at the reciprocating end of the seedling placing table 35.

The float 36 is swingably provided below the planting portion 14. The float 36 can bring the lower surface of the float 36 into contact with the field surface in order to stabilize the planting posture of the planting unit 14 with respect to the field surface.

The spare seedling stand 37 is provided as a left and right pair with respect to the vehicle body unit 11. The spare seedling stand 37 is arranged outside the hood 21 in the vehicle width direction. The spare seedling stand 37 can mount a seedling box containing spare mat seedlings.

The upper parts of the pair of left and right spare seedling stands 37 are connected by a connecting frame 28 extending in the vertical direction and the vehicle width direction. A housing 29 is provided at the center of the connecting frame 28 in the vehicle width direction. A positioning antenna 61, an inertial measurement device 62, and a communication antenna 63 are provided inside the housing 29.

The positioning antenna 61 can receive radio waves from positioning satellites that form a satellite positioning system (GNSS). The position of the rice transplanter 1 can be acquired by performing a known positioning calculation based on this radio wave.

The inertial measurement device 62 has three gyro sensors (angular velocity sensors) and three acceleration sensors. The angular velocity and acceleration of the rice transplanter 1 detected by the inertial measurement device 62 are used supplementarily to improve the accuracy of the positioning result of the rice transplanter 1.

The communication antenna 63 is an antenna for performing wireless communication with the wireless communication terminal 7 shown in FIG.

As shown in FIG. 3, the control unit 50 includes an arithmetic unit, a storage device, an input/output unit, and the like, which are not shown. Various programs and data are stored in the storage device. The arithmetic device can read various programs from the storage device and execute them. The control unit 50 can be operated as the traveling control unit 51 and the working machine control unit 52 by the cooperation of the above hardware and software. The control unit 50 may be one piece of hardware or a plurality of pieces of hardware capable of communicating with each other. In addition to the inertial measurement device 62 described above, a position acquisition unit 64, a communication processing unit 65, a vehicle speed sensor 66, and a steering angle sensor 67 are connected to the control unit 50.

The position acquisition unit 64 acquires the positioning information of the rice transplanter 1 (mobile station) based on the radio wave received by the positioning antenna 61 from the positioning satellite. More specifically, the position acquisition unit 64 acquires a pseudo distance from the positioning satellite to the positioning antenna 61 and a carrier phase when the radio wave reaches the positioning antenna 61 for each positioning satellite that has received the radio wave. .. This pseudo range is obtained by multiplying the signal propagation time measured using the internal clock of the positioning satellite and the internal clock of the position acquisition unit 64 by the speed of light. Further, the carrier phase is obtained by measuring the difference between the phase of the carrier received by the positioning antenna 61 and the phase output by the internal oscillator of the position acquisition unit 64.

In addition, the position acquisition unit 64 acquires, for the reference station 120 whose position is known, the positioning correction information generated based on the pseudo distance from the positioning satellite to the reference station 120 and the carrier phase when reaching the reference station 120. To do. As shown in FIG. 3, the position acquisition unit 64 acquires the positioning correction information by the direct communication between the reference station 120 and the rice transplanter 1. The position acquisition unit 64 may acquire the positioning correction information via the Internet, the wireless communication terminal 7, or the like.

The position acquisition unit 64 moves by performing a calculation by the known GNSS-RTK method using the positioning information that is the observation value obtained by the rice transplanter 1 and the positioning correction information that is generated by the reference station 120. The baseline solution between the rice transplanter 1 as a station and the reference station 120 is continuously calculated. Thereby, the positioning solution which is the position of the rice transplanter 1 is obtained in real time. In the GNSS-RTK method, both the rice transplanter 1 and the reference station 120 detect the carrier wave phase of the radio wave from the GNSS satellite and use it for the positioning calculation. Therefore, the position of the rice transplanter 1 can be detected with significantly higher accuracy than the normal single positioning. Can be obtained. Note that, instead of the GNSS-RTK method, for example, positioning calculation using differential GNSS may be performed.

The communication processing unit 65 is electrically connected to the communication antenna 63. The communication processing unit 65 can perform modulation processing or demodulation processing by an appropriate method and can send and receive data to and from the wireless communication terminal 7.

The vehicle speed sensor 66 can detect the vehicle speed of the rice transplanter 1. The vehicle speed sensor 66 is provided at an appropriate position of the rice transplanter 1, for example, an axle of the front wheels 12. In this case, the vehicle speed sensor 66 generates a pulse corresponding to the rotation of the axle of the front wheels 12. The data of the detection result obtained by the vehicle speed sensor 66 is output to the control unit 50.

The steering angle sensor 67 can detect the steering angle of the front wheels 12. The steering angle sensor 67 is provided at an appropriate position of the rice transplanter 1, for example, a kingpin (not shown) provided on the front wheels 12. The steering angle sensor 67 may be provided on the steering handle 26. The data of the detection result obtained by the steering angle sensor 67 is output to the control unit 50.

The traveling control unit 51 can perform automatic control regarding traveling of the rice transplanter 1. For example, the traveling control unit 51 can perform vehicle speed control and steering control. The traveling control unit 51 may perform both the vehicle speed control and the steering control at the same time, or may perform only the steering control. In the latter case, the operator operates the vehicle speed of the rice transplanter 1 by using the shift operation pedal 27.

In the vehicle speed control, the vehicle speed of the rice transplanter 1 is adjusted based on a predetermined condition. In the vehicle speed control, specifically, the traveling control unit 51 performs control such that the current vehicle speed obtained from the detection result of the vehicle speed sensor 66 approaches the target vehicle speed. This control is realized by changing at least one of the gear ratio of the transmission in the mission case 23 and the rotation speed of the engine 22. It should be noted that this vehicle speed control also includes control for setting the vehicle speed to zero so that the rice transplanter 1 stops.

The steering control is control for adjusting the steering angle of the rice transplanter 1 based on a predetermined condition. In the steering control, specifically, the traveling control unit 51 controls the current steering angle obtained from the detection result of the steering angle sensor 67 to approach the target steering angle. This control is realized, for example, by driving a steering actuator provided on the rotating shaft of the steering handle 26. Regarding the steering control, the traveling control unit 51 may directly adjust the steering angle of the front wheels 12 of the rice transplanter 1 instead of the turning angle of the steering handle 26.

The work machine control unit 52 can control the operation of the planting unit 14 (elevating operation, planting work, or the like) based on a predetermined condition.

The wireless communication terminal 7 is a tablet terminal and includes a communication antenna 71, a communication processing unit 72, a display unit 73, an operation unit 74, and a control unit 80. The wireless communication terminal 7 is not limited to the tablet terminal, and may be a smartphone or a laptop computer. The wireless communication terminal 7 performs various processes related to autonomous traveling of the rice transplanter 1 as described below, but the control unit 50 of the rice transplanter 1 can also perform at least part of these processes. On the contrary, the wireless communication terminal 7 can also perform at least a part of various processes regarding the autonomous traveling performed by the control unit 50 of the rice transplanter 1.

The communication antenna 71 is configured to include a short-range communication antenna for performing wireless communication with the rice transplanter 1 and a mobile communication antenna for performing communication using a mobile phone line and the Internet. The communication processing unit 72 is electrically connected to the communication antenna 71. The communication processing unit 72 can perform modulation processing or demodulation processing by an appropriate method and can transmit and receive data to and from the wireless communication terminal 7 or another device. Therefore, for example, a part of the information stored in the control unit 50 or the control unit 80 can be stored in an external server.

The display unit 73 is a liquid crystal display, an organic EL display, or the like, and is configured to display an image. The display unit 73 can display, for example, information about autonomous traveling, information about setting of the rice transplanter 1, detection results of various sensors, warning information, and the like. The operation unit 74 includes a touch panel and hardware keys. The touch panel is arranged so as to overlap the display unit 73 and can detect an operation performed by an operator's finger or the like. The hardware key is arranged on the side surface of the housing of the wireless communication terminal 7 or around the display unit 73, and can be operated by being pressed by the operator. The wireless communication terminal 7 may be configured to include only one of the touch panel and the hardware key.

The control unit 80 includes an arithmetic unit, a storage device, an input/output unit, and the like, which are not shown. Various programs and data are stored in the storage device. The arithmetic device can read various programs from the storage device and execute them. By the cooperation of the above hardware and software, the control unit 80 includes a storage unit 81, a fixed station information acquisition unit 82, a display control unit 83, a reference station selection unit 84, a reference station setting unit 85, an area registration unit 86, and a determination unit. It can be operated as 87. The processing performed by each unit of the control unit 80 will be described later.

Next, with reference to FIG. 4 and FIG. 5, a process of displaying information on the reference station when registering a field will be described. FIG. 4 is a flowchart showing a process of determining a reference station used for registering a field. FIG. 5 is a diagram showing a state in which a screen for selecting a reference station used for registering a field is displayed.

As a preset for causing the rice transplanter 1 to perform autonomous traveling, it is necessary to register a field (traveling area) to be autonomously driven. In the present embodiment, data indicating the position and shape of the field is created based on the transition of the position information when the rice transplanter 1 is run along the outer circumference of the field, and is registered in the wireless communication terminal 7 or the server described above. To be done. As described above, in the present embodiment, since the position of the rice transplanter 1 is acquired based on the positioning correction information from the reference station, not the single positioning, it is necessary to determine the reference station used for registering the field.

Further, the reference station includes a fixed reference station and a portable reference station. The fixed reference station is a reference station whose installation position is determined. The fixed reference station is installed by, for example, a public institution, and specifications such as an installation position and a communication range are disclosed. The portable reference station can be fixed to the ground or the like, but part or all of the portable reference station can be removed to change the installation position. In addition, when simply referred to as a "reference station", in principle it shall include a fixed reference station and a portable reference station.

First, the control unit 80 (fixed station information acquisition unit 82) acquires the position and communication range of the fixed reference station (S101). When the information of the fixed reference station is open to the public, the fixed station information acquisition unit 82 accesses the corresponding database and acquires the information of the fixed reference station. When the information of the fixed reference station is stored in the storage unit 81 or the above-mentioned server or the like, the information of the fixed reference station may be acquired by accessing it. Further, the information of the fixed reference station stored in the storage unit 81 or the like may be updated using the acquired information obtained by accessing the above database.

Next, the control unit 80 acquires the current position of the rice transplanter 1 calculated by the position acquisition unit 64 (S102). The current position of the rice transplanter 1 acquired here is for identifying a fixed reference station with which communication is possible, and thus high position accuracy is not required. Therefore, the position acquisition unit 64 acquires the position of the rice transplanter 1 by, for example, independent positioning. Alternatively, when the wireless communication terminal 7 is provided with a positioning antenna, the current position may be acquired by performing independent positioning using the radio waves received by this positioning antenna.

Next, the control unit 80 identifies the fixed reference station whose current position is included in the communication range based on the position and communication range of the fixed reference station acquired in step S101 and the current position acquired in step S102 (S103). ).

Next, the control unit 80 (display control unit 83) displays the position and communication range of the fixed reference station on the map (S104). Specifically, the display control unit 83 controls to display the image shown in FIG. 5 on the display unit 73. A current position icon 101, a reference station icon 103, and a communication range circle 104 are displayed on the display unit 73. The current position icon 101 indicates the current position acquired in step S102. The reference station icon 103 indicates the position of the fixed reference station acquired in step S101. The communication range circle 104 indicates the communication range of the fixed reference station acquired in step S101. In the present embodiment, these positions and areas are graphically shown not by characters but by positions on the map, so that the operator can easily understand the situation intuitively.

Further, the communication range circle 104 that overlaps with the current position (in other words, the communication range circle 104 of the reference station that can communicate at the current position) is displayed in a different mode from the other communication range circles 104. The different modes include, for example, different colors within the communication range, different outline colors, and different blinking status. When the position and communication range of the portable reference station are registered in advance, the position and communication range of the portable reference station may be displayed. In this case, the display mode of the portable reference station and the fixed reference station may be different.

In addition, as shown by a rectangle or the like in FIG. 5, this map includes information about fields. The field information is, for example, information created based on aerial photographs and the like. Since the field has not been registered at this time, the exact position and shape of the field have not been registered. By displaying the field information on the map, it is possible to intuitively understand which fixed reference station the communication range of the registered field belongs to. The map may include information other than the field.

Next, the control unit 80 (reference station selection unit 84) either selects the reference station used for registering the farm field or accepts the operator's selection (S105). Since the rice transplanter 1 may autonomously run in the entire registration target field, the entire registration target field needs to be included in the communication range of the same reference station. For example, in the example shown in FIG. 6, the current position is within the communication range of the two reference stations indicated by the reference station icons 103a and 103b. Further, the communication range circle 104a includes the entire field, but the communication range circle 104b includes only a part of the field. Therefore, in such a situation, it is necessary to select the reference station indicated by the reference station icon 103a. As a specific process, the reference station selection unit 84 compares the position information (field information included in the map) of the registration target field with the position and communication range of the reference station to determine the entire registration target field. Select a reference station (selection reference station) that is within the communication range. The operator may select a reference station (selected reference station) based on the display in FIG. 5, and the reference station selection unit 84 may accept the selection.

Further, at least one of the display objects (the current position icon 101, the reference station icon 103, and the communication range circle 104) displayed by the display control unit 83 in step S104 can be switched to be displayed or not.

Then, the fields are registered. Specifically, after instructing the wireless communication terminal 7 to register the field, the operator controls the rice transplanter 1 to run along the outer circumference of the field. Meanwhile, the position acquisition unit 64 calculates the current position of the rice transplanter 1 and its change using the positioning correction information received from the reference station selected in step S105 and the positioning information received by the positioning antenna 61. The control unit 80 (area registration unit 86) creates data indicating the position and shape of the field based on the change in the current position acquired from the position acquisition unit 64, and registers the data in the wireless communication terminal 7 or the above-mentioned server. Further, the reference station used for registering the field is also registered in association with the field. At this time, which of the fixed reference station and the portable reference station is used to register the field may also be registered. The reference station at the time of field registration corresponds to the second reference station. After the registration of the field, a travel route for making the rice transplanter 1 autonomously travel is created in the field.

Next, a process of displaying information about the reference station at the start of autonomous traveling will be described with reference to FIGS. 7 to 9. FIG. 7 is a flowchart showing a process related to setting of a reference station used for autonomous traveling. 8 and 9 are diagrams showing a state in which a screen for confirming and changing the reference station used for autonomous traveling is displayed. In the following description, the rice transplanter 1 is assumed to be connected to the reference station selected based on the operator's instruction or other conditions.

First, the control unit 80 (fixed station information acquisition unit 82) acquires the position of the fixed reference station (S201). The method of acquiring the position of the fixed reference station is the same as in step S101. Further, when the farm field is registered using the portable reference station, the control unit 80 acquires the position of the portable reference station (S202). Next, the control unit 80 identifies the currently connected reference station (S203). In addition, since the position of the rice transplanter 1 is acquired by using the positioning correction information acquired from the currently connected reference station to perform autonomous traveling, the currently connected reference station corresponds to the first reference station. Since the positioning correction information received from the reference station includes information (identification information or installation position) for specifying the reference station, the currently connected reference station can be specified based on this information.

Next, the control unit 80 (display control unit 83) displays the position of the reference station on the map together with the map on the display unit 73 (S204). This map also contains information about the fields. The position and shape of the field displayed here are based on the information registered above. Further, the field for autonomous traveling is displayed in a mode different from the other fields (dots are added to the field for autonomous traveling in FIGS. 8 and 9). Further, as shown in FIG. 8, the display control unit 83 displays the position of the reference station by adding a display for specifying that it is currently connected and a display for specifying that it was used at the time of field registration. Specifically, the display control unit 83 displays the reference station icon 106 in bold type for the currently connected reference station. Further, the display control unit 83 adds a circle to the reference station icon 106 for the reference station at the time of field registration. When the currently connected reference station matches the reference station at the time of field registration, as shown in FIG. 9, the reference station icon 106 in bold and circled is displayed. As described above, it is preferable that the display for specifying the currently connected reference station and the display for specifying the reference station at the time of field registration can be applied redundantly. In the present embodiment, the position of the reference station is graphically shown as a position on the map instead of a character, so that the operator can easily understand the situation intuitively.

Here, when the portable reference station is used, for example, when the rice transplanter 1 autonomously travels in the field A, the portable reference station is arranged near the field A, and then the rice transplanter 1 autonomously travels in the field B. In this case, the portable reference station may be moved and installed in the vicinity of the field B. Here, if the operator forgets to move the portable reference station to the vicinity of the field B, the currently connected reference station and the reference station at the time of field registration do not match, so the portable reference station needs to be moved. However, when there are a plurality of portable reference station installation candidates, the operator may not be able to properly determine which portable reference station should be moved to which installation destination. In particular, when the position of the currently connected reference station and the position of the reference station at the time of field registration are described only in characters as in the conventional case, the operator may be confused about the determination. In this respect, as in the present embodiment, by displaying both as positions on the map as shown in FIG. 8, the operator intuitively knows which portable reference station should be moved to which installation destination. Can judge.

Although the display control unit 83 of the present embodiment is configured to display all the reference stations existing in the screen on the display unit 73, only the reference station currently connected and the reference station at the time of field registration are displayed on the display unit 73. It may be configured. Furthermore, since the reference station at the time of field registration is most important, the display control unit 83 may display only the reference station at the time of field registration on the display unit 73.

Further, by selecting the reference station icon 106, the detail window 107 is displayed. In the detail window 107, the identification information and the position (latitude/longitude) of this reference station are displayed. When the selected reference station icon 106 is the reference station at the time of field registration, the field registration date and time is further displayed. The information displayed in the detail window 107 may be always displayed.

Next, the control unit 80 (determination unit 87) determines whether the currently connected reference station and the reference station at the time of field registration match (S205). This determination is performed by comparing the information about the reference station registered when the field was registered with the information received from the currently connected reference station. The determination unit 87 may, for example, compare the identification information of both reference stations, or may compare the installation positions of both reference stations.

When the determination unit 87 determines that the currently connected reference station and the reference station at the time of field registration do not match, the control unit 80 (display control unit 83) displays a warning message to that effect on the message window 108 (S206). , FIG. 8). Further, the display control unit 83 displays the connection switching button 107a in the detail window 107 of the reference station at the time of field registration (S206). The warning message may be displayed in a place other than the message window 108, or the connection switching button 107a may be displayed in a place other than the detail window 107.

Here, while it is easy to change the connection-destination reference station to a fixed reference station, for example, to change the connection-destination reference station to a portable reference station, another process (for example, a process of moving the portable reference station, It may be necessary to perform processing to activate the reference station, or other settings). Therefore, the display control unit 83 is configured to determine whether the reference station can be changed only by the processes of the rice transplanter 1 and the wireless communication terminal 7, and display the connection switching button 107a only when the change is possible. May be. Furthermore, the display control unit 83 may add that a usable reference station is arranged at the position of the reference station at the time of field registration, as a condition for displaying the connection switching button 107a.

Next, the control unit 80 (reference station setting unit 85) determines whether or not the connection switching button 107a has been operated by the operator (S207), and when determining that the connection switching button 107a has been operated, determines the connection destination reference station. Change to the reference station at the time of field registration (S208). Along with this processing, the currently connected reference station matches the reference station at the time of field registration, so the control unit 80 (display control unit 83) displays a message to that effect on the message window 108 (S209, FIG. 9). Even when it is determined in step S205 that the currently connected reference station and the reference station at the time of field registration match, the processing of step S209 is performed.

As described above, the reference station display system 100 of this embodiment includes the position acquisition unit 64, the area registration unit 86, and the display control unit 83. The position acquisition unit 64 acquires the position of the rice transplanter 1 for causing the rice transplanter 1 to autonomously travel along the travel route created in the travel area, based on the positioning correction information acquired from the first reference station. The area registration unit 86 acquires the position used to specify the shape of the travel area based on the positioning correction information acquired from the second reference station and registers the travel route. The display control unit 83 performs control to display the map and the position of the second reference station on the map on the display unit 73 when setting the autonomous traveling of the rice transplanter 1.

With this, since the position of the second reference station can be displayed on the map, even if the positions of the first reference station and the second reference station are different, the operator intuitively determines the position where the first reference station should be set. You can figure it out.

Further, the reference station display system 100 of this embodiment includes a determination unit 87 that determines whether or not the positions of the first reference station and the second reference station match. When the determination unit 87 determines that the position of the first reference station and the position of the second reference station do not match, the display control unit 83 further determines that the position of the first reference station does not match the position of the second reference station. Is displayed on the display unit 73.

Thereby, the operator can easily grasp whether the position of the first reference station and the position of the second reference station are different.

In addition, the display control unit 83 of the reference station display system 100 of the present embodiment further displays the map and the position of the first reference station on the map on the display unit 73 when setting the rice transplanter 1 for autonomous traveling. Control to display.

Thereby, the operator can easily grasp whether the position of the first reference station and the position of the second reference station are different. When the first reference station is portable, the operator can easily know where to move the first reference station.

Further, in the reference station display system 100 of the present embodiment, the position of the first reference station does not match the position of the second reference station, the reference station exists at the position of the second reference station, and the switching operation is performed. It is preferable to include a reference station setting unit 85 that performs a process of switching the reference stations so that the position of the first reference station matches the position of the second reference station when it is detected.

Accordingly, the position of the first reference station can be matched with the position of the second reference station by a simple process.

Further, the reference station display system 100 of the present embodiment includes a fixed station information acquisition unit 82, a display control unit 83, a reference station selection unit 84, a position acquisition unit 64, and an area registration unit 86. The fixed station information acquisition unit 82 acquires position information and a communication range of a fixed reference station that is a reference station whose position is fixed. The display control unit 83 controls the display unit 73 to display the position of the fixed reference station and the communication range of the fixed reference station on the map together with the map including the field. The reference station selection unit 84 selects, as a selection reference station, a fixed reference station in which the field to be registered in the traveling area is within the communication range, or accepts the selection of the selection reference station. The position acquisition unit 64 acquires the position of the rice transplanter 1 for causing the rice transplanter 1 to autonomously travel along the travel route created in the travel area, based on the positioning correction information acquired from the selection reference station. The area registration unit 86 acquires the position used for specifying the shape of the travel area based on the positioning correction information acquired from the selection reference station and registers the travel route.

As a result, since the position of the fixed reference station, the communication range, and the field are displayed on the map, the operator intuitively selects the fixed reference station (that is, the selected reference station) that can communicate with the entire field registered as the traveling area. it can. Further, even when the reference station selection unit makes a selection, the operator can intuitively confirm whether or not an appropriate fixed reference station is selected.

Although the preferred embodiment of the present invention has been described above, the above configuration can be modified as follows, for example.

In the above embodiment, the position of the reference station and the like are displayed on the display unit 73 of the wireless communication terminal 7, but another device (for example, the display unit provided in the rice transplanter 1 or another terminal owned by the operator). It may be configured to be displayed in.

In the above embodiment, the communication range of the reference station is not displayed on the screens (FIGS. 8 and 9) for confirming the reference station used in autonomous traveling, but the communication range may be displayed as shown in FIG.

In the above embodiment, the rice transplanter 1 is connected to the reference station selected based on the operator's instruction or other conditions when the autonomous traveling is set. On the other hand, when there is a reference station at the time of field registration, the rice transplanter 1 may be automatically connected to the reference station when the autonomous traveling is set.

1 rice transplanter (work vehicle)
7 wireless communication terminal 64 position acquisition unit 82 fixed station information acquisition unit 83 display control unit 84 reference station selection unit 85 reference station setting unit 86 area registration unit 87 determination unit 100 reference station display system

Claims (5)

A position acquisition unit that acquires the position of the work vehicle for autonomously traveling the work vehicle along the travel route created in the travel region based on the positioning correction information acquired from the first reference station;
An area registration unit that acquires a position used to specify the shape of the travel area based on positioning correction information acquired from a second reference station and registers the travel route;
A display control unit that controls the display of the map and the position of the second reference station on the map when setting the autonomous traveling of the work vehicle;
A reference station display system comprising: The reference station display system according to claim 1,
A determination unit that determines whether or not the positions of the first reference station and the second reference station match,
When the determination unit determines that the position of the first reference station and the position of the second reference station do not match, the display control unit further determines that the position of the first reference station and the position of the second reference station are the same. A reference station display system, characterized in that control is performed to display a warning to the effect that it has not been performed. The reference station display system according to claim 1 or 2,
The display control unit is configured to further perform a control of displaying a map and a position of the first reference station on the map on the display unit when setting the work vehicle for autonomous traveling. Reference station display system. The reference station display system according to any one of claims 1 to 3,
When it is detected that the position of the first reference station does not match the position of the second reference station, the reference station exists at the position of the second reference station, and the switching operation is performed, A reference station display system comprising a reference station setting unit that performs a process of switching the reference stations so that the position of the first reference station matches the position of the second reference station. A fixed station information acquisition unit that acquires position information and communication range of a fixed reference station that is a reference station whose position is fixed,
On the map, a display control unit that performs control to display the position of the fixed reference station and the communication range of the fixed reference station on the display unit together with the map including the farm field,
A reference station selection unit that selects the fixed reference station in which the farm field that is the registration target of the traveling area is within the communication range or that receives the selection of the selected reference station,
A position acquisition unit that acquires the position of the work vehicle for autonomously traveling the work vehicle along the travel route created in the travel area, based on the positioning correction information acquired from the selection reference station,
A position used to specify the shape of the travel area, an area registration unit that acquires the position based on the positioning correction information acquired from the selection reference station and registers the travel route,
A reference station display system comprising:

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