JP4966240B2 - Communications system - Google Patents

Description

  The present invention provides a communication means capable of switching the frequency of a communication radio signal to be transmitted and received to a plurality of different frequencies, and when a frequency selection command is instructed, the frequency of the communication radio signal is set to each of a plurality of different frequencies. A quality information measurement process for controlling the communication means so as to switch sequentially in order and measuring a quality information corresponding value corresponding to the communication quality of each of the communication radio signals of different frequencies transmitted from the communication means on the other side , A frequency selection process for determining a communication frequency based on a measurement result of the quality information measurement process, and controlling the communication means so as to perform communication by switching the frequency of the communication radio signal to the determined frequency The present invention relates to a communication system provided with communication control means for executing each of frequency switching processes.

  The communication system described above is, for example, for communicating information with each other between a plurality of devices that are located apart from each other. Conventionally, the communication control unit has used the other party as the quality information measurement process. Configured to measure reception intensity when receiving a communication radio signal as an example of a quality information corresponding value corresponding to the communication quality of each communication radio signal of a plurality of frequencies transmitted from the communication means on the side In the frequency selection process, the frequency having the highest reception intensity among the plurality of frequencies measured in the speed measurement process is defined as the frequency for communication (for example, (See Patent Document 1).

JP 2005-536943 A

  In the above-described conventional configuration, the frequency having the highest quality information correspondence value among a plurality of different frequencies is determined as a communication frequency for the communication means to perform transmission and reception, so there is a problem while communication is being performed satisfactorily. However, if communication is not performed satisfactorily due to the influence of disturbance when performing communication at the specified communication frequency, the communication status will deteriorate immediately and communication cannot be performed. There is a risk that it may become difficult to maintain stable communication quality.

  An object of the present invention is to provide a communication system that can easily maintain stable communication quality by selecting an appropriate frequency as a communication frequency.

  The communication system according to the present invention includes a communication unit capable of switching a frequency of a communication radio signal to be transmitted and received to a plurality of different frequencies, and a frequency selection command when the frequency selection command is instructed, the frequency of the communication radio signal is set to a plurality of different frequencies. The communication means is controlled so as to be sequentially switched in the setting order, and the quality information corresponding value corresponding to the communication quality of each of the communication radio signals of different frequencies transmitted from the communication means on the other side is measured. The quality information measurement process, the frequency selection process for determining the communication frequency based on the measurement result of the quality information measurement process, and the communication so as to perform the communication by switching the frequency of the communication radio signal to the determined frequency. And a communication control means for executing each of the frequency switching processes for controlling the communication means. Control means for the frequency selection process, a plurality of quality information corresponding values for a plurality of different frequencies measured in the quality information measurement process as a calculation target, for a set number of consecutively arranged in the frequency change direction A moving average process that calculates the average value by sequentially changing the frequency, and a variation evaluation that calculates an index value that represents the magnitude of the variation in the quality information correspondence value for each of a plurality of frequency sets for which the average value is obtained by the moving average process Select a group having a high average value obtained by the moving average process and a small index value obtained by the variation evaluation process from among the group of processes and the plurality of frequencies, and a frequency in the group The frequency setting process is performed to determine the frequency on the center side among the frequencies arranged in the changing direction as the frequency for communication.

  According to the first characteristic configuration, when a frequency selection command is issued, the communication control unit first executes the quality information measurement process. That is, the communication means is controlled so as to perform communication by sequentially switching the frequency of the communication radio signal to each of a plurality of different frequencies in the setting order, and each communication of the plurality of different frequencies transmitted from the communication means on the other side is performed. The quality information corresponding value corresponding to the communication quality of the radio signal is measured. Then, the communication control means uses a plurality of quality information corresponding values for a plurality of different frequencies measured in the quality information measurement process as an operation target, and an average value for a set number continuously arranged in the frequency change direction. A moving average process for sequentially determining the frequency, a variation evaluation process for obtaining an index value representing the magnitude of the variation of the quality information corresponding value for each of a plurality of sets of frequencies for which the average value is obtained by the moving average process, And, among the plurality of sets of frequencies, a set having a high average value obtained by the moving average process and a small index value obtained by the variation evaluation process is selected, and a frequency change direction in the set The frequency setting process for determining the frequency on the central side among the frequencies arranged in the communication frequency as the frequency for communication is executed, and the frequency of the wireless signal for communication is set as described above. To thereby controlling the communication means to communicate by switching a frequency determined.

  That is, it is obtained by the moving average process among a plurality of sets of frequencies for which the average value is obtained by the moving average process using the plurality of quality information corresponding values measured by the quality information measuring process as calculation targets. A set with a high average value and a small index value indicating the variation in the quality information correspondence value is found, and the frequency on the center side of the frequencies arranged in the frequency change direction in the set is determined as a communication frequency. .

  If the communication means performs communication using the frequency determined in this way as a communication frequency, for example, even if communication by the communication frequency is not performed satisfactorily due to the influence of disturbance, the communication is performed. For the frequency adjacent to the low frequency side or the high frequency side with respect to the frequency for use, the quality information corresponding value does not greatly decrease compared to the quality information corresponding value of the communication frequency. It is possible to continue communication by using it, it is possible to avoid the disadvantage that communication cannot be performed immediately, and it is easy to maintain stable communication quality as much as possible.

  In other words, in this type of communication apparatus, even when communication is performed by setting any one of a plurality of frequencies, the communication radio signal transmitted from the communication means is Not only one frequency component but also a frequency component adjacent to the one frequency as a center is included. Therefore, even if communication using the one frequency, that is, the communication frequency is not performed satisfactorily due to the influence of disturbance, as described above, the adjacent frequency included in the communication radio signal is compatible with quality information. Since the value does not drop significantly compared to the quality information corresponding value of the frequency for communication, it becomes possible to continue communication as much as possible using this adjacent frequency.

  In addition, when the frequency having the highest quality information correspondence value is simply selected instead of the selection method as described above, the quality information correspondence value is the largest as shown in FIG. If the quality information corresponding value of the frequency (3ch, 5ch) adjacent to the frequency (4ch in the figure) is a low value, the effect of disturbance is caused when communication is performed at the frequency having the highest quality information corresponding value. However, if communication is not performed satisfactorily, communication cannot be performed continuously using adjacent frequencies, and communication may not be performed immediately. According to the first feature configuration, however, It is possible to avoid such disadvantages and continue communication as much as possible using adjacent frequencies.

  Therefore, according to the first characteristic configuration, it is possible to provide a communication system capable of easily maintaining stable communication quality by selecting an appropriate frequency as a communication frequency.

  In addition to the first feature configuration, the second feature configuration of the present invention is configured such that when the frequency selection command is instructed by the manually operated start command unit, the communication control unit performs the quality information measurement process, the frequency The selection processing and the frequency switching processing are configured to be executed.

  According to the second characteristic configuration, when the frequency selection command is instructed by a manually operated start command means, the communication control means performs the quality information measurement process, the frequency selection process, and the frequency switching process. Execute. That is, a quality information corresponding value corresponding to the communication quality of each communication radio signal of a plurality of different frequencies is measured, a communication frequency is determined based on the measurement result, and the communication means determines the frequency of the communication radio signal. Therefore, the communication frequency in the communication means can be switched to a frequency at which stable communication quality can be easily maintained.

  Therefore, according to the second characteristic configuration, for example, the user of the communication system can switch the communication frequency to an appropriate frequency by operating the manually operated start command means. In such a case, it is possible to easily maintain stable communication quality as much as possible by switching the frequency at an appropriate timing.

  In the third feature configuration of the present invention, in addition to the first feature configuration or the second feature configuration, the communication control unit transmits the quality information corresponding value from the counterpart communication unit in the quality information measurement process. The communication speed of the communication radio signal is measured.

  According to the third characteristic configuration, the communication speed of the communication radio signal transmitted from the counterpart communication means is measured as the quality information corresponding value. This communication speed is represented by, for example, the number of data actually transmitted per unit time, etc., but in the communication means used in this type of communication system, the actual communication is performed as described above. A function for measuring the communication speed is provided as a standard, and communication quality information can be measured using such a standard function.

  Therefore, according to the third characteristic configuration, it is possible to measure communication quality information without causing complication of the configuration by using a standard function.

  Hereinafter, a case where the communication system according to the present invention is applied to communication between a combine as a work vehicle and a management means on the ground side will be described.

First, the configuration of the combine will be described.
As shown in FIG. 1, a cutting part 3 is supported at a front part of a vehicle body supported by a pair of left and right crawler type traveling devices 1, 1 so as to be driven up and down around a horizontal axis P <b> 1 by a cutting lift cylinder 2. A driving unit 4 is provided on the right side of the front part of the vehicle body, a threshing unit 5 is provided on the left side of the rear part of the vehicle body, and a glen tank 6 is provided on the right side of the rear part of the vehicle body. The combine is configured.

  The cutting part 3 includes a weeding tool 7 attached to the tip part, a cereal raising device 8, a cutting blade 9 for cutting the stock of the caused cereal, and a threshing part 5 that receives the cutting cereal meal at the tip side. A vertical conveying device 10 and the like that are transferred to the feed chain are provided.

  Next, the power transmission system is shown in FIG. The output of the engine E mounted on the vehicle body is transmitted to the threshing unit 5 via the threshing clutch 12 that can be turned on and off by the threshing clutch motor 11 and also transmitted to the mission unit 14 via the continuously variable transmission 13. The power from the transmission unit 40 is supplied to the crawler type traveling devices 1 on both the left and right sides, while being transmitted to the cutting unit 3 via the cutting clutch 16 that can be turned on and off by the cutting clutch motor 15. It has become. Although not described in detail in the mission section 14, a slow turning state in which one traveling device 1 is driven at a lower speed than the other traveling device 1, a brake turning state in which one traveling device 1 is stopped, and one traveling There is provided a turning state switching mechanism 17 having a well-known configuration that can be switched to each of a reverse rotation turning state in which the device 1 is driven in the opposite direction to the other traveling device 1. The switching operation of the turning state switching mechanism 17 is configured by a swinging operation of a cutting height steering lever 18 to be described later in the lateral width direction of the machine body.

  The continuously variable transmission 13 is linked and interlocked so that a manual shift operation can be performed by a manually operated transmission lever 19 provided in the driving unit 4. The speed change lever 19 is provided at the left portion of the driver seat 20 in the driver 4 so as to be swingable in the longitudinal direction of the fuselage. In other words, when the speed change lever 19 is operated forward from a neutral position located in the middle of the front / rear operation range, the continuously variable transmission 13 increases in traveling speed in the forward direction, and the speed change lever 19 moves rearward from the neutral position. When operated to the side, the continuously variable transmission 13 is configured to increase the traveling speed in the reverse direction.

  The operation unit 4 is provided with a cross-operated cutting height steering lever 18 that is configured to serve both as a cutting up / down commanding tool for raising / lowering the cutting unit 3 and a turning operation commanding tool for turning the vehicle body left and right. . When the cutting height steering lever 18 is swung rearward, the cutting unit 3 is raised, and when the cutting height steering lever 18 is swung forward, the cutting unit 3 is lowered.

  That is, as shown in FIG. 7, a microcomputer for controlling the operation of the hydraulic control valve 21, the threshing clutch motor 11, the cutting clutch motor 15 and the like that switches the pressure oil supply state to the cutting lifting cylinder 2 is provided. A control device H is provided, and a cutting lift switch 22 that is turned on when the cutting height steering lever 18 is swung backward, and a cutting lowering that is turned on when the cutting height steering lever 18 is swung forward. The switch 23 is provided, and information on these switches is input to the control device H. Then, the control device H switches the hydraulic control valve 21 so that the cutting lift cylinder 2 is raised when the cutting lift switch 22 is turned on, and hydraulically controls so that the cutting lift cylinder 2 is lowered when the cutting drop switch 23 is turned on. The valve 21 is controlled to be switched. Further, a threshing on / off switch 24 and a mowing on / off switch 25 that can be turned on and off by manual operation are provided, and the control device H switches and controls the threshing clutch motor 11 according to the operation state of the threshing on / off switch 24, and the mowing on / off. Control is performed so that the mowing clutch motor 15 is switched according to the operating state of the switch 25.

  Although not described in detail about the linkage configuration, the cutting steering lever 18 and the turning state switching mechanism 17 are mechanically linked. When the cutting height steering lever 18 is swung to the left, the vehicle body turns left, When the swinging operation is performed to the right, the airframe turns to the right, and as the tilt angle from the neutral position of the cutting height steering lever 18 increases, the slow turning state, the brake turning state, and the reverse rotation turning The turning state is sequentially switched, that is, the turning state is sequentially switched so that the turning radius becomes smaller.

  In this combine, a manual operation state in which the shift lever 19 and the cutting height steering lever 18 are manually operated by a driver seated on the driver's seat 20, and the transmission lever 19 and the cutting height steering lever 18 will be described later. Further, it is configured to be able to be switched to an automatic traveling state in which unmanned traveling can be performed along a preset traveling route by operating with a driving operation mechanism provided separately.

In addition, as shown in FIG. 2, as shown in FIG. 2, the driving operation mechanism for steering that is positioned in the vicinity of the rear side of the body of the cutting height steering lever 18 and operates the cutting height steering lever 18 in the lateral direction of the body. 26 is provided.
As shown in FIGS. 3 to 5, the steering drive operation mechanism 26 is fixed to the operation panel 27 </ b> A on the front side of the seat of the driving unit 4 by screws through a connector 28 </ b> A as an attachment portion. Further, a screw shaft 30 that is rotationally driven by a steering electric motor 29 (hereinafter referred to as a steering motor) is rotatably supported in a state along the lateral width direction of the machine body, and is screwed into the screw shaft 30. A slide member 32 that includes a female screw portion 31 and slides in the axial direction of the screw shaft 30 as the screw shaft 30 rotates is provided.

  A pair of left and right lever holders 33 serving as lever holding portions are bolted to the slide member 32, and the pair of left and right lever holders 33 are provided at positions where they contact the cutting height steering lever 18 from both the left and right sides. Yes. The pair of lever holders 33 includes a mounting plate 33A and a reinforcing rod 33B fixed to the plate 33A by welding.

  Further, as shown in FIG. 3, the portion extending along the axial direction of the screw shaft 30 of the frame portion 28 is formed in a substantially U-shaped cross section, and is formed on the left and right upper edges of the substantially U-shaped cross section. The guided portion 32a of the slide member 32 comes into contact with the slide member 32 so that the slide member 32 is prevented from rotating around the axis of the screw shaft 30 and is guided to be movable along the axis direction. Yes. Therefore, the upper edge portions of the left and right sides of the frame 28 having a substantially U-shaped cross section prevent the slide member 32 from rotating around the axis of the screw shaft 30 and move the slide member 32 along the axis direction. A guide part G for guiding freely is configured.

  Therefore, as the screw shaft 30 is rotated by rotating the steering motor 29, the female screw portion 31 is screwed and the slide member 32 extends along the axial direction of the screw shaft 30. Thus, the cutting height steering lever 18 can be swung in the horizontal direction of the machine body by the lever holder 33.

  The output shaft 34 of the steering motor 29 and the screw shaft 30 are interlocked and connected by a transmission chain 35. However, the motor-side sprocket 36 is formed to have a larger diameter than the screw shaft-side sprocket 37, and is used for steering. While using a general-purpose inexpensive electric motor having a speed reduction mechanism as the motor 29, the screw shaft 30 is rotated as fast as possible so that the steering operation can be performed quickly.

  In addition, a potentiometer 40 having a detection rotary shaft 39 that is rotatable around the front and rear axis is mounted on a support portion 38 that extends upward from a rear side portion of the frame portion 28 in the middle of the width direction of the fuselage. A swing end portion of the swing arm 41 for detection of the potentiometer 40 and the other end portion of the relay link 42 supported by the slide member 32 so as to be rotatable around the front and rear axis are pivoted via a pin. The detection swing arm 41 of the potentiometer 40 swings as the slide member 32 slides. The slide position of the slide member 32, that is, the cutting height steering lever 18 is supported by the potentiometer 40. The left and right swinging operation amount can be detected.

  As shown in FIGS. 2 and 3, the steering motor 29 is positioned at a substantially central position in the lateral direction of the fuselage of the driver seat 20 in a plan view and is positioned above the screw shaft 30 in a side view. In addition, when the driver is seated on the driver's seat 20, the foot touches the steering motor 29 when the driver is seated. To avoid getting in the way when getting on and off the driving unit 4.

Next, the drive operation mechanism 43 for shifting for operating the shift lever 19 will be described.
As shown in FIGS. 2 and 6, the drive operation mechanism 43 for shifting interferes with various operation tools provided in the left panel portion of the driving section 4 on the left side of the driver seat 20. It is attached and fixed via a pair of front and rear vertical frames 44 in a state where it is positioned upward so as not to move.

  The drive operation mechanism 43 for shifting has the same structure as the drive operation mechanism 26 for steering, and an electric motor (hereinafter referred to as a shifting motor) is attached to the frame portion 45 fixed to the vertical frame 44. A screw shaft 47 that is rotationally driven by 46 is rotatably supported in a state of having a rotary shaft core along the front-rear direction of the machine body, and includes a female screw portion 48 that engages with the screw shaft 47 to rotate the screw shaft 47. Accordingly, a slide member 49 that slides in the axial direction of the screw shaft 47 is provided. The rear end portion of the operation rod 50 extending in the front-rear direction is pivotally connected to the slide member 49 via the connecting plate 50A so as to be rotatable around the horizontal axis. The portion is pivotally connected to a connector 51 mounted on the speed change lever 19 so as to be rotatable around a horizontal axis.

  Therefore, as the screw shaft 47 is rotated by rotating the speed change motor 46, the female screw portion 48 is screwed and the slide member 49 slides along the axial direction of the screw shaft 47. By moving, the speed change lever 19 can be swung in the longitudinal direction of the machine body with the operation rod 50 and the connecting tool 51.

  In the drive operation mechanism 43 for shifting, like the drive operation mechanism 26 for steering, a support portion 52 is provided so as to extend upward from a driver seat side portion in the middle in the front-rear direction of the frame portion 45. Further, a potentiometer 54 having a detection rotating shaft 53 that is rotatable around an axis along the width direction of the machine body is provided. The swinging end portion of the detecting swing arm 55 of the potentiometer 54 and the slide member 49 have a horizontal axis. The other end of the relay link 56 that is rotatably supported around the core is pivotally connected via a pin, and the detection swing arm 55 of the potentiometer 54 swings as the slide member 49 slides. The potentiometer 54 can detect the slide position of the slide member 49, that is, the swing operation amount of the speed change lever 19. To have.

  In this combine, the GPS position information calculating means 100 that receives the radio wave transmitted from the GPS satellite and obtains the position information of the vehicle body at set time intervals, and the vertical axis center as an example of the azimuth displacement information of the vehicle body Based on the gyro device 57 for detecting the angular velocity displacement of the vehicle body, the vehicle body position information obtained by the GPS position information calculating means 100 and the vehicle body azimuth displacement information detected by the gyro device 57, the vehicle body follows the set route. Steering control means 101 that controls steering so that the vehicle travels.

First, the GPS position information calculation unit 100 will be described.
A local horizontal coordinate system E (east direction), N (north direction), representing the horizontal direction in the east-west direction and the north-south direction with respect to the gravity direction of the point at an appropriate location on the ground side outside the field to be worked on, As shown in FIG. 10, it is installed at a ground-side reference position whose position (coordinate values in the coordinate systems E, N, and H) is known with high accuracy in H (the height direction from the center of the earth). An antenna 59a for a GPS reference station R (hereinafter also simply referred to as a reference station R) that receives a spread spectrum modulated radio wave (carrier signal) from at least four GPS satellites 58, and a received signal of this antenna 59a is processed. A GPS receiver 59 for obtaining phase information of a carrier wave, and a transceiver 60 as a ground side communication means provided with a transmission antenna 60a for transmitting the carrier wave phase information from the GPS receiver 59 toward the vehicle body side; It is provided.

  On the vehicle body side, an antenna 61a for a GPS mobile station I (hereinafter also simply referred to as mobile station I) that receives radio waves (carrier wave signals) from the GPS satellite 58, and a reception signal of the antenna 61a are processed. A GPS receiver 61 for obtaining carrier phase information and a transceiver 62 as vehicle body side communication means provided with an antenna 62a for receiving transmission information from the ground transceiver 60 are provided.

  As shown in FIG. 11, the GPS receivers 59 and 61 of the reference station R and the mobile station I have the same configuration, and the radio signals received by the respective antennas 59a and 61a are first high-frequency signals. The signals are input to the processing units 63 and 64 and converted to a low frequency. The C / A code analysis unit 65, 66 decodes the satellite number or the like of the low frequency converted signal, and the carrier phase measurement unit 67, 68 generates a C / A according to the satellite number. The carrier wave is reproduced in correlation with the code, and the phase of the carrier wave is measured at set time intervals by the built-in clocks 69 and 70. At the same time, on the basis of information from the C / A code analysis units 65 and 66, the satellite position information and the like are determined by the route message decoding units 71 and 72. Information from each of the above parts is input to the respective control computers 73 and 74, and carrier phase information in each reference station R and mobile station I is obtained.

  Further, the carrier phase information at the reference station R output from the reference station R side computer 73 is transmitted from the transmission antenna 60 a via the ground side transceiver 60, received by the vehicle body side antenna 61 a, and passed through the transceiver 62. Double phase difference information is obtained on the basis of both carrier phase information at the reference station R and the mobile station I, which is input to the mobile station I side computer 74. Based on the double phase difference information obtained from the carrier phase information at the mobile station I and the carrier phase information at the reference station R received by the transceiver 62 using the GPS receiver 61, the reference position That is, the GPS position information calculating unit 100 is configured to obtain the position of the mobile station I, that is, the work vehicle V with respect to the reference station R as time-series GPS position data at predetermined time intervals. The GPS position data obtained by the GPS receiver 61 is input to the control device H.

  Here, the outline of the double phase difference information will be described. Each carrier signal from two different satellites 58 is received by two receiving stations (reference station R and mobile station I), and each satellite 58 corresponds. Two phase differences are obtained, and the difference between these two phase differences is called a double phase difference. As a result, the influence of the phase disturbance of the transmission signal in each satellite 58 is removed, and the influence of the synchronization deviation of the clock for measuring the phase of each receiving station is removed, and finally, on the satellite side and the receiving station side. Accurate phase difference information with less influence of error can be obtained. In order to obtain a position vector r described later, actually, three independent double phase differences are obtained based on carrier signals from four different satellites 58.

  The position detection of the vehicle body based on the three double phase difference information by the GPS position information calculation means 100 will be specifically described. First, the combine body is positioned at a point where the position coordinate values are known with high accuracy in the local horizontal coordinate systems E, N, and H, and the GPS receivers 59 and 61 on the mobile station side and the reference station side are connected. The three double phase differences are calculated from the received information, and the relative position between the reference station R and the vehicle body is known, so that the integral multiple of the carrier wavelength included in the double phase difference information is uncertain (integer value bias). To confirm. Next, as shown in FIG. 9, the position vector r from the reference station R to the vehicle body is obtained from the three double phase difference information when the vehicle body is moved to an arbitrary point in the field, and the reference position of the reference station R is obtained. And the vehicle body position of the work vehicle V is determined from the obtained position vector r. The detection of the vehicle body position from the GPS reception information is obtained as time-series GPS position data at predetermined time intervals (100 msec).

  Separately from the configuration in which the vehicle body of the combiner receives the radio waves transmitted from the GPS satellites as described above and obtains the vehicle body position information at set time intervals, the vehicle body around the vertical axis as an example of the vehicle body azimuth displacement information A gyro device 57 for detecting the angular velocity displacement of the vehicle body is provided. The gyro device 57 is configured to detect an azimuth displacement amount of the vehicle body by detecting an angular velocity around the vertical axis and integrating the angular velocity. The gyro device 57 may be configured to use a three-axis gyro sensor that detects each speed around each axis in three dimensions (front-rear direction, width direction, and vertical direction).

  Then, using the control device H, the vehicle body travels along the set route based on the vehicle body position information obtained by the GPS position information calculating means 100 and the vehicle body azimuth displacement information detected by the gyro device 57. The steering control means 100 for controlling the steering motor 29 is configured as described above.

  The set route L is set as data determined with reference to the position coordinates (E, N, H coordinate system) on the ground side. Specifically, when performing the rice planting work to plant the planted cereals in the field to be worked, the driver gets on the rice planting machine and performs the planting work while operating manually. When performing the rice planting work, the rice planting machine is provided with GPS position information calculating means similar to the GPS position information calculating means 100, and when performing the rice planting work, the position information of the body of the rice planting machine is read and stored, A process of sequentially reading and storing data groups at a plurality of positions obtained in time series in accordance with such rice planting work is performed in advance.

  Then, the storage information is read by the control device H of the combine, and the control device H is configured to create a setting route L for cutting corresponding to the planting region and the travel route planted in the rice planting work from the storage information. Has been. Accordingly, the control device H constitutes the setting route creating means 102 that creates the setting route L. At that time, in the case where the number of planting lines by the rice planting machine and the number of harvesting lines of the combine are different, the route is corrected as appropriate according to the difference in the number of lines.

  Referring to the setting path L, as shown in FIG. 9, when the work starts from the work start point st and reaches the end of one work process in which the cutting work is performed along the edge of the uncut grain row. The harvesting operation is performed in a so-called mowing manner, so that the next trimming operation is performed by changing the direction of the vehicle body in a direction substantially orthogonal to the vehicle body. The entire range of the field will be traveled so that all the planted culms in F are harvested. When turning at the end of the mowing operation process, the vehicle travels forward so as to incline in the leftward direction from the state of traveling along the straight traveling route, stops traveling, and then crosses the straight traveling route. The operation process is switched so that the vehicle travels backward so that the front-rear direction of the vehicle body is in a posture along the next straight travel path, stops traveling, and then travels straight along the next straight travel path. It is designed to turn for the purpose. Therefore, in the turning travel for switching the work stroke, not only the direction change operation of the vehicle body in the traveling direction by the operation of the steering motor 29 but also the switching between the forward state and the reverse state by the operation of the speed change motor 46 is performed. Will be done.

  And when performing a cutting operation in this field, if the mode setting switch 76 is operated and set to the automatic travel mode, the vehicle can automatically travel along the set route L set as described above. That is, when the automatic travel mode is commanded, the control device H includes the current GPS position data obtained by the GPS position information calculation unit 100 and the change information of the vehicle body direction detected by the gyro device 57. The position of the vehicle body at the current time obtained based on the above is obtained as a coordinate value based on the position coordinates (E, N, H coordinate system) on the ground side, and the coordinate value and the travel route L are determined. The current position of the vehicle body with respect to the travel route L is obtained by comparing with the data, and steering control is performed so that the current position of the vehicle body travels along the set route L. Specifically, the steering motor 29 is operated to steer the vehicle body. At this time, when performing the turning for switching the work stroke as described above, the transmission motor 46 is operated. Thus, switching between the forward travel state and the reverse travel state is also performed. Further, the control device H automatically performs on / off operation of the cutting clutch 16 and the threshing clutch 12 and lifting operation of the cutting unit 3 in addition to such control for traveling of the vehicle body.

  When the vehicle is traveling straight ahead in the automatic travel mode, the control device H uses the gyro device 57 to obtain the position information of the vehicle body determined by the GPS position information calculation means 100 for each set time interval while the set time elapses. The current position of the vehicle body is obtained by correction based on the detected azimuth displacement information of the vehicle body, and the azimuth of the vehicle body at every set time based on the vehicle body position information obtained by the GPS position information calculation means 100 at the set time interval. Information is obtained and steering control is performed so that the current position of the vehicle body is along the set route L and the current direction of the vehicle body is an appropriate direction corresponding to the set route.

  Further, when turning the vehicle body, the control device H is in a state where the turning angular velocity of the vehicle body is suppressed below the allowable value as the allowable turning angular velocity based on the azimuth displacement information of the vehicle body detected by the gyro device 57. The steering control is performed so that the vehicle body turns along the set route.

  In this combine, whether the vehicle body position information obtained by the GPS position information calculation means 100 and the vehicle body azimuth displacement information detected by the gyro device 57 are both properly detected. Detection state determination means 103 for determining whether at least one of the position information of the vehicle body and the azimuth displacement information of the vehicle body is not properly obtained, and the appropriate detection by the detection state determination means 103 In a form in which the display content is different between when it is determined that it is in a state and when it is determined that it is in the inappropriate detection state, and in a state where the display content can be viewed from the outside of the vehicle body, A discrimination state display unit 78 for displaying the discrimination result of the detection state discrimination unit 103 is provided.

  In addition, the GPS position information calculating means 100 appropriately receives a radio wave transmitted from a GPS satellite 58, and an unstable reception mode in which the position information of the vehicle body is unstable although the radio wave is received. And the detection state determination unit 103 determines that the GPS position information calculation unit 100 is in the proper detection state when the GPS position information calculation unit 100 is switched to the proper reception mode. When the GPS position information calculating unit 100 is switched to the unstable reception mode or the unreceivable mode, it is determined to be in an inappropriate detection state. The display contents are different from each other in the stable reception mode and the non-reception mode.

  When the modes are further described, the detection state determination unit 103 determines that the reception mode is appropriate when all the radio waves from the four GPS satellites 58 are received satisfactorily. In this proper reception mode, the measurement error is about ± 2 cm, and the position can be measured with high accuracy.

  In addition, a state in which the radio wave of any one of the four GPS satellites 58 is not properly received, for example, a direct reception wave in which the radio wave from the GPS satellite 58 is directly received by the antenna 61a, and the GPS satellite 58 When there is an indirect received wave that is received by the antenna 61a after the first radio wave is reflected on the ground, the operation may become unstable, for example, two detection values may be obtained simultaneously as the position information of the vehicle body. There is. In such a case, the detection state discriminating means 103 discriminates the unstable reception mode. In this unstable reception mode, the measurement error is about ± 1 m and the measurement accuracy is poor.

  When the radio wave from the GPS satellite 58 is not received, the detection state determination unit 103 determines that the reception disabled mode. Such a state may occur, for example, when radio waves from the GPS satellite 58 are blocked by surrounding obstacles such as other buildings. At this time, the position of the vehicle body cannot be measured.

  Further, when the detection state discriminating means 103 is steered by the steering control means 101 so that the vehicle body travels straight along the set route L, the azimuth displacement of the car body detected by the gyro device 57 is detected. When the amount is less than the set allowable amount, it is determined that all the azimuth displacement information of the vehicle body is in a properly detected state, and the vehicle body moves straight along the set route L by the steering control means 101. When steering control is performed so that the vehicle travels, if the azimuth displacement amount of the vehicle body detected by the gyro device 57 exceeds the set allowable amount, the azimuth displacement information of the vehicle body is not properly obtained. It is comprised so that it may discriminate | determine that it is an improper detection state.

  As shown in FIG. 1, the discrimination state display means 78 is provided in a state of standing on the upper part of the cabin that covers the driving part of the vehicle body, and is easy to see so that it can be seen from the basket outside the field. The display lamps 79 and 80 are configured. The GPS display lamp 79 is lit with a green display lamp 79a when the GPS position information calculation means 100 is switched to the proper reception mode, and is lit with a yellow display lamp 79b when the GPS position information calculation means 100 is switched to the unstable reception mode. When the mode is switched to the reception disabled mode, the red display lamp 79c is turned on, and the display color as a different display content is switched. The display lamp 80 for the gyro is configured by a blue display lamp that is lit in blue when the detection state of the gyro device 57 is abnormal, and is turned off when the detection state is normal. The detection state determination means 103 is configured using the control device H.

  As shown in FIG. 9, on the outer periphery of the field to be worked, when the combine is automatically traveling, the vehicle body is out of the field so that it does not escape from the field and the vehicle body runs out of control. An optical vehicle body detection device 81 for detecting that the vehicle has escaped is provided, and this optical vehicle body detection device 81 is directed outward beyond the boundary created by the laser beam described later from the field. When it is detected that the vehicle is about to move, an emergency stop signal is transmitted by radio transmission to an emergency receiver 82 provided on the vehicle body, thereby stopping the vehicle body.

  In the optical vehicle body detection device 81, light emitting devices 81A that emit laser light along the outer peripheral edge of the field are respectively provided at two diagonal corners, and lasers are provided at the other two corners. A light receiving device 81B for receiving light is provided, and when the light receiving device 81B stops receiving laser light, an emergency stop signal is transmitted by radio transmission to the emergency receiver 82 by the wireless transmitter 81C provided in the receiving device 81B. It is the composition to do.

  Next, the control operation of the control device H16 will be described based on the flowcharts shown in FIGS. Note that the vehicle body is moved from the heel to the work start point st by manual operation or by another transport vehicle. This control is configured to start processing by instructing the start by a management side communication device 85 as a ground side management means as described later. This process is repeatedly executed every unit time (for example, 20 msec).

If the control mode is the route setting mode, the route setting process based on the stored information as described above is executed (steps 1 and 2). In the automatic travel mode, work start processing is first executed (step 3). That is, the threshing clutch 12 and the reaping clutch 16 are turned on and operated, the speed change lever 19 is shifted to the forward speed for reaping, the reaping portion 3 is lowered, and straight running is started.
After starting such straight traveling, straight traveling control is executed (step 4).

Next, the straight traveling control will be described with reference to FIGS. 13 and 14.
The GPS position data calculated by the GPS position information calculating means 100 is read every time a set time (100 msec) elapses (steps 41 and 42), and the position of the vehicle body is calculated from the GPS position data (step 43). Also, the detection information of the gyro device 57 is read every unit time (20 msec) for executing the processing, and the azimuth displacement amount of the vehicle body from the previous detection azimuth is calculated based on the detection information (steps 44 and 45).

  Then, it is determined whether or not the detection information of the gyro device 57 is abnormal (step 46). That is, when steering control is performed so that the vehicle travels straight, specifically, the gyro device 57 detects when the cutting height steering lever 18 detected by the potentiometer 40 is in the neutral position. If the azimuth displacement amount of the vehicle body to be detected is less than the set allowable amount, it is determined that all the azimuth displacement information of the vehicle body is properly detected, and the vehicle body detected by the gyro device 57 is detected. When the azimuth displacement amount exceeds the set allowable amount, it is determined that the vehicle body azimuth displacement information is not properly obtained and is in an inappropriate detection state.

  When the gyro device 57 is in the proper detection state, if the GPS position information calculation means 100 is in the proper reception mode at that time, the gyro device 57 is determined to be in the proper detection state and the green display lamp 79a of the GPS display lamp 79 is set. Lights up (steps 47 and 48). If the GPS position information calculation means 100 is in the unstable reception mode, it is determined that it is in an inappropriate detection state, and the yellow display lamp 79b of the GPS display lamp 79 is turned on (step 49). If the GPS position information calculating means 100 is in the reception incapable mode, it is determined that it is in an inappropriate detection state, and the red display lamp 79c of the GPS display lamp 79 is turned on (step 50). If the improper detection state continues for a set time (0.5 seconds) or longer, it is dangerous to run further, so that the vehicle body is brought to an emergency stop and the red display lamp 79c blinks (step 52). , 54).

  If the GPS position information calculating means 100 is in the proper reception mode, the current position of the vehicle body is obtained based on the position information of the vehicle body calculated from the GPS position data at every set time and the detection information of the gyro device 57 (step) 51).

As shown in FIG. 16, how to obtain the position is described. The process of calculating the position of the vehicle body based on the GPS position data is performed every set time (100 msec), and the amount of azimuth displacement by the gyro device 57 is calculated. The processing to be performed is performed every unit time (20 msec). Based on the position GP1, GP2,... Of the vehicle body obtained from the GPS position data, the position displacement data JD and the vehicle speed information at that time are obtained from that position. The current position is obtained every unit time in consideration of the position displacement amount.
When the explanation is added, as described above, the azimuth displacement data JD is obtained every unit time (20 msec), but the positions GP1, GP2,... Of the base body are measured 100 msec before the current time. Position. Therefore, every 100 msec after this position information is obtained, the position information that is the base (data before 100 msec) is corrected with the position data obtained this time, so that accurate position information can be obtained. ing.
The vehicle speed information can be obtained from information on the operation position of the shift lever by the potentiometer 54 in the drive operation mechanism 43 for shifting.

  Then, the steering motor 29 is controlled so that the current position of the vehicle body obtained as described above is positioned on the set route L (step 55). For example, when the current position of the vehicle body is far away from the set route L beyond the set amount, the cutting height steering lever 18 is operated with the operation position corresponding to the brake turning state as the target position. When the directional motor 29 is controlled and the current position of the vehicle body is less than the set distance from the set route L, the cutting height steering lever 18 is operated with the operation position corresponding to the gentle turning state as the target position. The steering motor 29 is controlled as described above.

  Then, when the GPS position information calculating unit 100 is in the unstable reception mode or the unreceivable mode for a short time shorter than the set time from the state of the proper reception mode, the unstable Only during the reception mode or the reception disabled mode, without adopting the GPS position data, the current direction of the vehicle body calculated by the detection information of the gyro device 57 is set as the final current direction of the vehicle body. Based on the information, the steering motor 29 is controlled so that the vehicle body travels along the set route (steps 53 and 55).

  If it is determined in step 46 that the gyro device 57 is in an inappropriate detection state, the blue lamp 80 as the gyro display lamp is turned on to display an abnormality (step 56). If the GPS position information calculation means 100 is in the proper reception mode, the green display lamp 79a is turned on (steps 57 and 58), and the position of the vehicle speed is obtained based only on the GPS position information without using the gyro device data. Then, the steering motor 29 is controlled so that the position of the vehicle body travels along the set route L (steps 61 and 55).

  If the GPS position information calculating means 100 is in the unstable reception mode, the yellow display lamp 79b is turned on (step 59), and if the GPS position information calculating means 100 is in the reception impossible mode, the red display lamp 79c is turned on. (Step 60). If the improper detection state continues for a set time (0.5 seconds) or longer, it is dangerous to run further, so the vehicle body is stopped urgently and the red display lamp 79c blinks (steps 62 and 54). ). While the inappropriate detection state is shorter than the set time (0.5 seconds), the state at that time is maintained (step 62). In the combine, it is considered that there is little change in the direction during such a short time, so that the traveling is continued in the steering state as it is for a short time.

  When reaching the end point of the straight traveling route that is the target of the cutting operation, the cutting operation is terminated, and it is determined that the vehicle has reached a turning position that turns the vehicle body about 90 degrees toward the straight traveling route that is the next target of the cutting operation. Then, running control for turning is executed (steps 5 to 8).

Next, turning traveling control will be described with reference to FIG.
In the turning control for turning, the GPS position data is not used, the detection information of the gyro device 57 is read, and the azimuth displacement amount of the vehicle body from the previous detection azimuth is calculated based on the detection information to calculate the current azimuth direction of the vehicle body. Is calculated (steps 81 and 82). Then, based on the information on the current heading of the vehicle body, the above-described turning for travel switching is performed so as to go to the next straight traveling route that has been changed by about 90 degrees with respect to the previous straight traveling route. (Step 83). During the turning, when the turning angular velocity of the vehicle body exceeds a preset allowable value from the detection information of the gyro device 57, the operation amount of the steering motor 29 is corrected to the smaller side by a set amount. Thus, the vehicle turns while the turning angular velocity of the vehicle body does not exceed a preset allowable value (steps 84 and 85).
After the cornering is completed, the cutting operation is executed along the next straight traveling route.After that, all of the cutting operations in the field are performed while the vehicle is traveling along the set route by repeating such processing. It will run until it finishes.

  Furthermore, in this combine, apart from the control structure for automatic steering as described above, the actual operating state of the combine, for example, the oil temperature of the engine, the reaping part 3 and the threshing part by the administrator monitoring on the ground side It is possible to monitor the state of clogging of cereals detected by a detection means (not shown) provided in 5 and various kinds of operations such as stoppage of travel, start of travel, stop of mowing work, start of mowing work, etc. A management side communication device 85 is provided as a ground side management means capable of communicating commands to the combine side, and the vehicle body side communication capable of communicating various information with the management side communication device 85 is provided on the combine body. A machine 86 is provided. Information can be communicated between the management side communication device 85 and the vehicle body side communication device 86, and the management side communication device 85 and the vehicle body side communication device 86 constitute a communication system. Although details of the information to be communicated are not described in detail, this communication system is configured to be able to switch the frequency of radio signals for communication transmitted and received with each other to a plurality of types of frequencies so that the communication quality is kept as good as possible. It is configured to perform communication using an appropriate frequency that can be used.

  As shown in FIG. 17, the management side communication device 85 includes a transmission / reception unit 87 that performs communication with the vehicle body side communication device 86 by superimposing communication information on a communication radio signal, and the transmission / reception unit 87. A frequency switching unit 88 capable of switching the frequency of a communication radio signal to be used to any one of a plurality of frequencies (13 channels), manages information to be communicated, and commands a frequency switching signal to the frequency switching unit 88. A communication control unit 89 on the management side as a communication control means, a display unit 90 for displaying various information on the vehicle body side transmitted from the vehicle body side communication device 86, that is, the actual operation information of the combine as described above, A manual operation unit 91 is provided as manual operation type start command means for performing various commands by manual operation. The transmission / reception unit 87 and the frequency switching unit 88 constitute a communication means TU on the management side that can switch the frequency of communication radio signals to be transmitted / received to a plurality of different frequencies.

  Similarly, the vehicle body side communication device 86 superimposes communication information on a communication wireless signal to communicate with the management side communication device 85, and the communication used in the transmission / reception unit 92. A frequency switching unit 93 that can switch the frequency of the radio signal to any one of a plurality of different frequencies, and communication on the vehicle body side that manages control information to be communicated and commands the frequency switching unit 93 to provide a frequency switching signal A control unit 94 and the like are provided. The transmission / reception unit 92 and the frequency switching unit 93 constitute a vehicle-side communication unit TU that can switch the frequency of communication radio signals to be transmitted and received to a plurality of different frequencies.

  Then, when a frequency selection command is instructed by the manual operation unit 91, the communication control unit 89 on the management side sequentially switches the frequency of the communication radio signal to a plurality of different frequencies in a setting order. Quality information measurement processing for measuring quality information corresponding values corresponding to the communication quality of wireless signals for communication at different frequencies transmitted from the communication means TU on the other side, and measurement by the quality information measurement processing A frequency selection process for determining a communication frequency based on the result and a frequency switching process for controlling the communication means TU so as to perform communication by switching the frequency of the communication radio signal to the determined frequency are executed. Is configured to do.

  Further, as the frequency selection process, the communication control unit 89 on the management side continuously uses a plurality of quality information corresponding values for a plurality of different frequencies measured in the quality information measurement process in the frequency change direction. The moving average processing for obtaining the average value for the set number arranged in sequence by changing the frequency sequentially, and the variation of the quality information corresponding value for each of the multiple frequency sets for which the average value is obtained by the moving average processing A variation evaluation process for obtaining an index value to be represented, and a set having a high average value obtained in the moving average process and a small index value obtained in the variation evaluation process is selected from the plurality of frequency sets. And, it is configured to execute a frequency setting process for determining the frequency on the center side among the frequencies arranged in the frequency change direction in the set as the frequency for communication.

Next, the frequency switching control operation of the management-side communication control unit 89 will be specifically described.
As shown in FIG. 18, when a frequency selection command is issued by the manual operation unit 91, the other side, that is, the vehicle body side communication device 86 is instructed by communication (steps 21 and 22). The frequency switching unit 88 is instructed to switch the frequency of the communication radio signal used in the transmission / reception unit 87 to the first (lowest) frequency of the 13 channel frequencies (step 23). The communication speed, specifically the effective baud rate (unit: bps (bit, per, second)) as the quality information corresponding value when communication is performed at the first frequency is measured, and the measurement process is completed. Then, when the other side is instructed by communication, the frequency switching unit 88 is instructed to switch the frequency to the one-step high frequency side, and communication is performed at that frequency, and communication at that frequency is performed. Is measured (steps 24-27).

  When the communication speed is measured for all the 13 channels, the moving average process is executed (step 28). This moving average process will be described. For example, as shown in FIG. 19, a plurality of communication speeds for a plurality of different frequencies measured in the quality information measurement process are sequentially calculated and arranged in the frequency change direction. An average value for the set number (for example, three) is obtained by sequentially changing the frequency.

  Then, for each of a plurality of sets of frequencies for which the average value is obtained in the moving average process, as an index value representing the magnitude of the variation in the quality information corresponding value, the difference between the plurality of communication speeds included in the set A variation evaluation process is performed to obtain a sum of the values (step 29). If the variation is large, the difference between the communication speeds is large, so the index value is a large value, and if the variation is small, the index value is a small value.

  In other words, for each set of a plurality of frequencies for which the average value is obtained by the moving average processing as described above, what is the average communication speed, and whether the variation is large or small? Check it.

  Next, out of the plurality of sets of frequencies, a set having a high average value obtained by the moving average process and a small index value obtained by the variation evaluation process is selected, and a frequency change in the set is performed. A frequency setting process for determining the frequency on the center side among the frequencies arranged in the direction as the frequency for communication is executed (step 30). Specifically, the frequency located at the center of the frequency in the group having the highest average value of the communication speed obtained by moving average among the groups in which the index value indicating the variation in the communication speed is smaller than the set value is determined as the frequency for communication. .

  In other words, a pair having a communication speed variation that is acceptable and having the largest average value of the moving average communication speed is found, and a frequency located in the center of the three frequencies in the pair is communicated. It is determined as a frequency for use. For example, in the example shown in FIG. 19 (a), the center frequency of the first set A1, that is, the second frequency is targeted, and in the example shown in FIG. 19 (b), the center frequency of the sixth set A6. The frequency, that is, the seventh frequency is targeted.

  Thereafter, after instructing the vehicle body side communication device 86 to communicate the frequency determined as the communication frequency, a switching signal is sent so that the frequency of the communication radio signal used in the transmission / reception unit 87 is switched to the frequency. The frequency switching unit 88 is commanded (steps 31 and 32).

Next, the frequency switching control operation of the vehicle body side communication control unit 94 will be described.
As shown in FIG. 18, when a reset command is issued from the management-side communication device 85 by communication, the frequency of the communication radio signal used by the transmission / reception unit 92 is changed to the first of a plurality of different frequencies. A switching signal is commanded to the frequency switching unit 93 to switch to the first (lowest side) frequency (steps 33 and 34). When the management-side communication device 85 commands the completion of the measurement process by communication, the frequency switching unit 93 is commanded to switch the frequency to the one-step high frequency side (steps 35, 36, and 37). When the communication speed is measured for all frequencies and the frequency selected by the management communication device 85 is commanded by communication, the frequency of the communication radio signal used in the transmission / reception unit 92 is switched to the selected frequency. Thus, the switching signal is commanded to the frequency switching unit 93 (steps 38 and 39).

  Therefore, as the frequency selection command is issued by the manual operation unit 91, the frequency of the communication radio signal is automatically switched to the most appropriate frequency for each of the management side communication device 85 and the vehicle body side communication device. It is possible to easily maintain stable communication quality.

[Another embodiment]
(1) In the above embodiment, in the frequency setting process, the average value of three communication speeds continuously arranged in the frequency change direction in the moving average process is obtained by sequentially changing the frequency. Although the index value representing the speed variation is smaller than the set value, the frequency located at the center of the three frequencies in the group having the highest average value of the communication speed obtained by moving average is set as the communication frequency. Instead of such a configuration, the following configuration may be used.

  For example, the set number in the moving average process may be a number other than three, and a set having a high average value obtained in the moving average process and a small index value obtained in the variation evaluation process is selected. In addition, when determining the frequency on the center side among the frequencies arranged in the frequency change direction in the set as the frequency for communication, the frequency is not limited to the center of the plurality of frequencies of the target set and is located on the center side If it is.

(2) In the above-described embodiment, when the frequency selection command is commanded by the manually operated start command unit, the communication control unit performs the quality information measurement process, the frequency selection process, and the frequency switching process. Although the configuration to be executed has been illustrated, for example, instead of such a configuration, the frequency selection command may be commanded when the communication system is turned on, and the frequency selection command may be set at every preset time. There are various configurations, such as a configuration in which a frequency selection command is commanded, or a configuration in which the frequency selection command is commanded when it is determined that communication cannot be performed satisfactorily due to the influence of noise, etc. Can be implemented.

(3) In the above embodiment, the communication speed is measured as the quality information corresponding value. However, instead of the communication speed, the reception intensity of the communication radio signal is measured, or the communication radio signal is measured. The level of noise included in the signal may be measured, and various information can be measured. In the above-described embodiment, the index value indicating the magnitude of the variation in the quality information correspondence value is obtained by calculating the total value of the differences between the plurality of communication speeds included in the set. Instead of this, for example, standard deviations of a plurality of communication speeds included in the set may be obtained. In short, any index value may be used as long as it indicates the level of variation in the quality information correspondence value.

(4) In the above embodiment, the communication system is composed of a vehicle body side communication device mounted on an unmanned work vehicle and a management side communication device operated by an administrator located on the ground side. However, the present invention is not limited to this configuration, and a pair of devices installed in a fixed position at locations separated from each other may be configured to include a communication device.

(5) In the above embodiment, the case where the work vehicle is a combine has been described. However, the present invention can also be applied to various work vehicles such as a rice planting work vehicle and an agricultural tractor.

Combine side view Plan view of the operation unit Side view showing the structure of the drive operation mechanism for steering Notched front view showing the configuration of the drive operation mechanism for steering Notched plan view showing the configuration of the drive operation mechanism for steering Side view showing the configuration of the drive operation mechanism for shifting Control block diagram Diagram showing transmission state Schematic plan view showing work vehicle and planned travel route Schematic side view showing work vehicle and reference station Block diagram showing the configuration of the GPS reception system Flow chart of control operation Flow chart of control operation Flow chart of control operation Flow chart of control operation Diagram showing displacement of detection information over time Block diagram showing configuration of communication system Flow chart of control operation of communication control unit Diagram showing communication speed of each frequency

Explanation of symbols

89 Communication control means 91 Start command means
TU communication means

Claims (3)

A communication means capable of switching the frequency of a communication radio signal to be transmitted and received to a plurality of different frequencies;
When the frequency selection command is instructed, the communication means is controlled to sequentially switch the frequency of the communication radio signal to each of a plurality of different frequencies in a setting order, and a plurality of different signals transmitted from the communication means on the other side are transmitted. Quality information measurement processing for measuring a quality information corresponding value corresponding to the communication quality of each communication radio signal of frequency, frequency selection processing for determining a communication frequency based on a measurement result by the quality information measurement processing, and A communication system provided with communication control means for executing each of frequency switching processing for controlling the communication means so as to perform communication by switching the frequency of the communication radio signal to a predetermined frequency,
The communication control means sets the number of consecutively arranged in the frequency change direction with the plurality of quality information corresponding values for different frequencies measured in the quality information measurement process as the frequency selection process. A moving average process for obtaining an average value of minutes by sequentially varying frequencies, and an index value representing the magnitude of the variation in the quality information corresponding value for each of a plurality of frequency sets for which the average value is obtained by the moving average process Of the sets of variation evaluation processing and the plurality of frequencies, a set having a high average value obtained by the moving average processing and a small index value obtained by the variation evaluation processing is selected, and the set A communication system configured to execute a frequency setting process for determining a central frequency among the frequencies arranged in the frequency change direction in the communication as a communication frequency   The communication control means is configured to execute the quality information measurement process, the frequency selection process, and the frequency switching process when the frequency selection instruction is instructed by a manually operated start instruction means. The communication system according to claim 1.  2. The communication control unit is configured to measure a communication speed of the communication radio signal transmitted from the counterpart communication unit as the quality information corresponding value in the quality information measurement process. Or the communication system of 2.

Images