JP6812303B2 - Satellite positioning system for autonomous driving vehicles - Google Patents

Description

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

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

JP-A-2016-31649 (see paragraph number 0035)

This satellite positioning base station unit has an automatic position coordinate calculation function that automatically calculates the coordinates of the installation position when it is started after being installed at a predetermined position, and a manual operation (including wireless operation) from the outside. It has a position coordinate calculation function. If the position coordinates calculated by the automatic position coordinate calculation function are deemed to be inaccurate, the position coordinates automatically set are rewritten by the operation from the in-vehicle positioning unit side using this satellite positioning base station unit. Before rewriting the position coordinates, another vehicle using this satellite positioning base station unit calculates its own vehicle position using the correction data calculated based on the position coordinates set up to that point, and this There is a possibility that the vehicle is automatically traveling using the vehicle position and the travel route. In such a case, if the position coordinates of the satellite positioning base station unit are rewritten by an external operation (operation by radio etc. from other than the satellite positioning base station unit), there is a contradiction in the calculation result of the own vehicle position before and after that. As a result, this vehicle (a vehicle different from the vehicle whose position coordinates are being rewritten) cannot normally run automatically. Also, if one vehicle rewrites the position coordinates of the satellite positioning base station unit while the other vehicle also rewrites the position coordinates of the satellite positioning base station unit, the manual position coordinate calculation function may cause an error. There is also.

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

The satellite positioning system for an automatic traveling work vehicle according to the present invention includes a satellite positioning base station unit that transmits correction data generated based on position coordinates, which are parameters indicating an installed position, and radio waves from the satellite. , An in-vehicle satellite positioning unit that calculates positioning data using radio waves from the satellite and the correction data, and a position coordinate setting unit that sets the position coordinates of the satellite positioning base station unit from the outside using wireless communication. A setting state management module having a setting state transmitting unit and a setting state receiving unit is provided, and the in- vehicle satellite positioning unit, the position coordinate setting unit, and the setting state management module are mounted on each of the automatic traveling work vehicles. , The setting state transmitting unit transmits the setting state of the position coordinates in the satellite positioning base station unit set by the position coordinate setting unit to the other automatic traveling work vehicle, and the setting state receiving unit is the other said. receiving the setting state transmitted from the setting status transmission unit of the setting state management module of the automatic traveling working vehicle, wherein the setting condition is configured so that is shared by a plurality of said automatic traveling working vehicle ..

According to this configuration, when the position coordinates, which are parameters indicating the position where the satellite positioning base station unit is installed, are set (new setting or rewrite setting) by the position coordinate setting unit from the outside of the satellite positioning base station unit. , The setting status is transmitted by the setting status transmitter. When the set state receiver receives this transmitted setting state, the setting state of the position coordinates in the satellite positioning base station unit at that time is set to all the in-vehicle satellite positioning using this satellite positioning base station unit. It can be grasped on the unit side. That is, even if the position coordinates of the satellite positioning base station unit are set from the side of an arbitrary autonomous driving vehicle (hereinafter, also simply referred to as a vehicle), the other vehicle sides share the set state in substantially real time. it can. As a result, even if the position coordinates of the satellite positioning base station unit are set from any vehicle side, the confusion of own vehicle position calculation in all vehicles using this satellite positioning system can be avoided.

In one of the preferred embodiments of the present invention, the flags indicating the setting state include a coordinate unset flag indicating before and during the setting of the position coordinates and a coordinate set flag indicating the completion of setting the position coordinates. It is included. In this configuration, when the coordinate unset flag is given, it can be determined that the position coordinates are not set in the satellite positioning base station unit and the correction data is not generated. When this determination is made, the vehicle side waits for the position coordinates to be set in the satellite positioning base station unit, or the position coordinate setting unit sets the position coordinates of the satellite positioning base station unit from the outside. It will be. When the coordinate set flag is given, it can be determined that the correction data is generated and transmitted because the position coordinates are set in the satellite positioning base station unit. If it is determined in this way, the vehicle side will use the corrected data sent. However, at that time, if it is considered that there is a problem with the position coordinates set by the satellite positioning base station unit, the position coordinates are set from the outside by the position coordinate setting unit. In this way, with the two flags of the coordinate unset flag and the coordinate set flag, all the vehicle sides using this satellite positioning system can simultaneously grasp the setting state of the position coordinates in the satellite positioning base station unit. ..

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

In one of the preferred embodiments of the present invention, the satellite positioning base station unit is shared by a plurality of the automatic traveling work vehicles, and each of the automatic traveling work vehicles is connected to the control unit and the control unit. The general-purpose terminal device is provided, and the general-purpose terminal device has the position coordinate setting unit and the parameter setting state notification unit, and the setting state is shared between the general-purpose terminal devices through wireless communication. In this configuration, the general-purpose terminal devices provided in each automatic traveling work vehicle are connected so that data can be exchanged (pairing state). Therefore, the general-purpose terminal device is used to set the position coordinates of the satellite positioning base station unit. Can be obtained and the position coordinates can be changed. Therefore, since it is not necessary to modify the in-vehicle satellite positioning unit mounted on each automatic traveling work vehicle, the conventional in-vehicle satellite positioning unit can be used as it is.

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

Hereinafter, embodiments of a satellite positioning system for an autonomous driving vehicle according to the present invention will be described with reference to the drawings. In this embodiment, two tractors equipped with a tilling device at the rear of the traveling vehicle body use a satellite positioning system as an automatic traveling work vehicle. The two tractors work together to cultivate the field, which is the work area.

In this cooperative tillage work, as shown in FIGS. 1 and 2, of the two tractors, the tractor assigned the symbol "A" runs first, and the tractor assigned the symbol "B" is assigned. It follows the area cultivated by the preceding tractor with a slight overlap width. In the field tilling work, it is generally divided into a central work area CL located on the central side of the field and a headland HL defined along the ridge around the central work area CL. Each tractor travels straight along a preset target travel route at the central work area CL, makes a U-turn when it reaches the headland HL, and returns to straight travel at the central work area CL. The two tractors can automatically travel along the set target travel route, but the driver gets into one of the two tractors and manually travels, and the other automatically travels. A work method and a work method in which both of the two tractors are automatically driven are possible. In addition, an observer may board the automatically traveling tractor for the purpose of monitoring. More generally, the driver gets in and manually drives from the farm road to a predetermined position (automatic driving start point) of the field. Regardless of manual driving or automatic driving, the vehicle position of each tractor is calculated using a satellite positioning system, so the deviation between the current position in the field and the target driving route or target point can be accurately calculated. Be done.

In this embodiment, the two tractors have substantially the same configuration. As shown in FIG. 3, this tractor is provided with a control portion 20 at the center of a vehicle body 10 supported by front wheels 11 and rear wheels 12. The rear part of the vehicle body 10 is equipped with a rotary type tilling device 30 as a working device via a hydraulic elevating mechanism 31. The front wheels 11 function as steering wheels, and the traveling direction of the tractor is changed by changing the steering angle by the steering mechanism 13. The steering mechanism 13 includes a steering motor 14 for automatic steering. In manual driving, the front wheels 11 are steered by using the steering wheel 22 arranged in the control unit 20. In this embodiment, the control unit 20 is equipped with a general-purpose terminal device 6 configured by a tablet computer in a cradle installed in the control seat. This general-purpose terminal device 6 has a wireless data transmission function, and even if it is removed from the cradle and taken out of the tractor, data communication with the control system of the tractor is possible. The general-purpose terminal device 6 has a function of providing information to the driver and a function of inputting information from the driver.

As shown in FIG. 1, since the satellite positioning system in this embodiment adopts the RTK-GPS method in the GNSS (global navigation satellite system), the satellite positioning base station unit 9B and the vehicle are mounted as basic components. It is equipped with a satellite positioning unit 9A. The satellite positioning base station unit 9B is installed near the field and transmits correction data generated based on the position coordinates, which are parameters indicating the installed position, and the radio waves from the satellite AS to the in-vehicle satellite positioning unit 9A. .. The in-vehicle satellite positioning unit 9A is mounted on the tractor, and a satellite antenna for receiving GNSS signals (including GPS signals) is attached to the ceiling area of the totactor cabin 21. In addition, in order to complement satellite navigation using a satellite positioning system, it is also possible to combine an in-vehicle satellite positioning unit 9A with an inertial navigation module incorporating a gyro acceleration sensor and a magnetic compass sensor. Such an inertial navigation module may be provided at a location different from the in-vehicle satellite positioning unit 9A.

The satellite positioning base station unit 9B is configured to be portable and can be installed at any location on the ground. With this configuration, it is not necessary to install the satellite positioning base station unit 9B in each of the plurality of fields, and one satellite positioning base station unit 9B is transported and installed in each field by a carrier or the like. To. A plurality of in-vehicle satellite positioning units 9A can share one satellite positioning base station unit 9B. Further, when a plurality of fields to be worked on are adjacent to each other, one satellite positioning base station unit 9B is installed at a place capable of communicating with the in-vehicle satellite positioning unit 9A of the tractor traveling in each field.

Therefore, the map data of the field to be worked on is associated with the proper installation position of the satellite positioning base station unit 9B corresponding to the field, which is managed as the field information. However, the satellite positioning base station unit 9B, which is portable and can be installed at an arbitrary location on the ground, may be erroneously installed by an operator at a position different from the previous installation position. If the position coordinates of the installation position of the satellite positioning base station unit 9B transmitted from the satellite positioning base station unit 9B are different from the proper installation position described in the field information, the satellite positioning base station unit 9B is set to the proper installation position. It will be moved. If it is considered that the position coordinates of the installation position calculated by the satellite positioning base station unit 9B are incorrect, the position of the installation position of the satellite positioning base station unit 9B can be determined from the tractor side by using the configuration described later. It is also possible to rewrite the coordinates.

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

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

The general-purpose terminal device 6 is equipped with a base station management module 61 that externally sets and manages various parameters of the satellite positioning base station unit 9B, particularly position coordinates indicating the installation position of the satellite positioning base station unit 9B. The detailed functions of the base station management module 61 will be described later. In FIG. 4, the data communication between the general-purpose terminal device 6 and the satellite positioning base station unit 9B is configured to be performed via the wireless module 4 incorporated in the control system of the tractor. Since the general-purpose terminal device 6 is also provided with the wireless module 4, it is possible to directly perform data communication between the general-purpose terminal device 6 and the satellite positioning base station unit 9B.

The output processing unit 7 is connected to a vehicle traveling device group 71, a working device device group 72, and a notification device 73 such as a liquid crystal display. The vehicle traveling device group 71 includes control devices related to vehicle traveling, such as an engine control device, a shift control device, a braking control device, and a steering control device. In this embodiment, the working device group 72 includes a power control device such as a PTO clutch that turns on and off the power transmission to the cultivating device 30, and an elevating cylinder control device of the elevating mechanism 31 that raises and lowers the cultivating device 30. ing.

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

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

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

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

The automatic work travel command unit 54 calculates the directional deviation and the position deviation between the travel route set as the target travel route by the travel route generation unit 55 and the vehicle position calculated by the vehicle position calculation unit 57. , An automatic steering command for eliminating the directional deviation and the positional deviation is generated and given to the traveling control unit 51.

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

Next, using FIGS. 4 and 5, the data flow when the position coordinates indicating the installation position of the satellite positioning base station unit 9B are set and managed by the base station management module 61 of the general-purpose terminal device 6 will be described. To do.

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

The correction data generation unit 91 determines the RTK-GPS based on the difference between the preset position coordinates indicating the installation position of the satellite positioning base station unit 9B and the position coordinates calculated based on the radio waves from the satellite AS. The correction data is calculated using the correction algorithm. The calculated correction data is transmitted to the in-vehicle satellite positioning unit 9A mounted on each tractor through the wireless module 90. The in-vehicle satellite positioning unit 9A that has received the correction data generates more accurate positioning data by using the correction data and the radio wave from the satellite AS, and gives it to the own vehicle position calculation unit 57.

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

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

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

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

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

Since the setting state in the satellite positioning base station unit 9B is shared by all tractors, specifically all general-purpose terminal devices 6, when an arbitrary position coordinate setting unit 62 is setting or changing the position coordinates, It is possible to prohibit the setting or change of the position coordinates by the other position coordinate setting unit 62. As a result, even if the position coordinates of the satellite positioning base station unit 9B are changed by the position coordinate setting command from the outside, the fact is grasped by all the tractors through the setting flag, so that the confusion in the own vehicle position calculation is avoided. Will be done. Further, the inconvenience that the position coordinate setting command is given to the satellite positioning base station unit 9B from a plurality of tactors is also avoided.

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

(State transition) When the satellite positioning base station unit 9B is installed in place and the power is turned on, the initialization process that automatically calculates the position coordinates of the installed position is performed based on the radio waves from the satellite AS. Will be. The position coordinates obtained by this are set as the initial position coordinates.
(Flag transition A) When the base station management module 61 accesses the satellite positioning base station unit 9B, the parameter management unit 92 acquires the setting flag of the content according to the state of the satellite positioning base station unit 9B. For example, a "before initialization" flag is given corresponding to the power ON, a "initializing" flag is given corresponding to the start of initialization, and a "coordinate set" flag is given corresponding to the initial position coordinate setting. The "before initialization" flag and the "initializing" flag can be regarded as the "coordinate unset" flag.
(Flag transition B) The setting flag acquired by the base station management module 61 belonging to one tractor is wireless communication via the wireless module 4, and the base station management module 61 belonging to the other tractor from the base station management module 61 Transferred to. As a result, the base station management modules 61 of all the tactors can share the contents of the setting flags that change with the state transition.

FIG. 7 shows an example of a time chart of the position coordinate setting process of the satellite positioning base station unit 9B by the position coordinate setting command. In this time chart as well, the meanings of the state transition, the flag transition A, and the flag transition B are the same as those in FIG.
(State transition) The position coordinate setting command from the base station management module 61 belonging to one tractor changes the position coordinate to rewrite the position coordinate, and when the coordinate change is completed, the new position coordinate is set.
(Flag transition A) When the position coordinate setting command is transmitted to the satellite positioning base station unit 9B and the position coordinate change process is started, the base station management module 61 is given the "coordinate changing" flag. This "changing coordinates" flag is given until a new position coordinate is set, and when a new position coordinate is set, a "coordinate set" flag is given. The "coordinate set" flag is valid until the "coordinate changing" flag is given, and the "coordinate not set" flag or "coordinate not set" flag is valid from the "coordinate changing" flag to the "coordinate set" flag. The "changing" flag is considered valid.
(Flag transition B) Again, since the setting flag given to one base station management module 61 is transferred to the other base station management module 61, all the base station management modules 61 are accompanied by the state transition. Share the contents of the changing setting flags. As a result, it is possible to prohibit the other base station management module 61 from changing the position coordinates while any of the base station management modules 61 is changing the position coordinates.

The configurations disclosed in the above embodiment (including another embodiment, the same shall apply hereinafter) can be applied in combination with the configurations disclosed in other embodiments as long as there is no contradiction, and the present specification. The embodiments disclosed in the document are examples, and the embodiments of the present invention are not limited thereto, and can be appropriately modified without departing from the object of the present invention.

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

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

4: Wireless module 5: Control unit 50: Work travel control module 51: Travel control unit 52: Work control unit 53: Engine control unit 54: Automatic work travel command unit 55: Travel route generation unit 56: Coordinated travel management unit 57: Own vehicle position calculation unit 6: General-purpose terminal device 60: Touch panel 61: Base station management module 62: Position coordinate setting unit 63: Setting status management module 64: Setting status transmission unit 65: Setting status reception unit 7: Output processing unit 8: Input processing unit 9A: In-vehicle satellite positioning unit 9B: Satellite positioning base station unit 90: Radio module 91: Correction data generation unit 92: Parameter management unit AS: Satellite (GNSS satellite)

Claims (5)

A satellite positioning system for autonomous driving vehicles
A satellite positioning base station unit that transmits correction data generated based on position coordinates, which are parameters indicating the installed position, and radio waves from satellites.
An in-vehicle satellite positioning unit that calculates positioning data using radio waves from the satellite and the correction data, and
A position coordinate setting unit that sets the position coordinates of the satellite positioning base station unit from the outside using wireless communication,
A setting state management module having a setting state transmitting unit and a setting state receiving unit is provided.
The in-vehicle satellite positioning unit, the position coordinate setting unit, and the setting state management module are mounted on each of the automatic traveling work vehicles.
The setting status transmission unit transmits the setting state of the position coordinates in the satellite positioning base station unit which is set by the position coordinate setting unit to the other of said automatic traveling working vehicle, wherein the setting status receiving unit other such automatic receiving the setting state transmitted from the setting status transmission unit of the setting state management module of the traveling working vehicle, wherein the setting condition for the automatic travel working vehicle that will be shared by the plurality of the automatic traveling working vehicle Satellite positioning system. The satellite according to claim 1, wherein the flag indicating the setting state includes a coordinate unset flag indicating before and during the setting of the position coordinates and a coordinate set flag indicating the completion of setting the position coordinates. Positioning system. The coordinate unset flag includes an initializing flag indicating that the position coordinates of the satellite positioning base station unit are being initialized, and a changing flag indicating that the set position coordinates are being changed by the position coordinate setting unit. The satellite positioning system according to claim 2, wherein the flag is included. The satellite positioning system according to claim 3, wherein when one of the position coordinate setting units is setting or changing the position coordinates, the setting or change of the position coordinates by the other position coordinate setting unit is prohibited. The satellite positioning base station unit is shared by a plurality of the automatic traveling work vehicles, and each of the automatic traveling work vehicles includes a control unit and a general-purpose terminal device connected to the control unit, and
Claims 1 to 4 in which the general-purpose terminal device has the position coordinate setting unit, the setting state transmitting unit, and the setting state receiving unit, and the setting state can be shared between the general-purpose terminal devices through wireless communication. The satellite positioning system according to any one of the above.

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