WO2020012989A1 - Engin de chantier et système de positionnement d'engin de chantier - Google Patents

Engin de chantier et système de positionnement d'engin de chantier Download PDF

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Publication number
WO2020012989A1
WO2020012989A1 PCT/JP2019/025889 JP2019025889W WO2020012989A1 WO 2020012989 A1 WO2020012989 A1 WO 2020012989A1 JP 2019025889 W JP2019025889 W JP 2019025889W WO 2020012989 A1 WO2020012989 A1 WO 2020012989A1
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WO
WIPO (PCT)
Prior art keywords
positioning device
antenna
correction information
gnss
tractor
Prior art date
Application number
PCT/JP2019/025889
Other languages
English (en)
Japanese (ja)
Inventor
圭司 横田
加藤　浩二
亮 茶畑
Original Assignee
株式会社クボタ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2018133670A external-priority patent/JP6995711B2/ja
Priority claimed from JP2018133669A external-priority patent/JP2020012681A/ja
Priority claimed from JP2018133666A external-priority patent/JP6938444B2/ja
Application filed by 株式会社クボタ filed Critical 株式会社クボタ
Priority to CN201980036079.4A priority Critical patent/CN112204430A/zh
Priority to AU2019302087A priority patent/AU2019302087B2/en
Priority to KR1020207030774A priority patent/KR102527843B1/ko
Publication of WO2020012989A1 publication Critical patent/WO2020012989A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/12—Supports; Mounting means
    • H01Q1/22—Supports; Mounting means by structural association with other equipment or articles
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/32—Adaptation for use in or on road or rail vehicles
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q13/00—Waveguide horns or mouths; Slot antennas; Leaky-waveguide antennas; Equivalent structures causing radiation along the transmission path of a guided wave
    • H01Q13/08—Radiating ends of two-conductor microwave transmission lines, e.g. of coaxial lines, of microstrip lines

Definitions

  • the present invention relates to a working machine such as a tractor and a positioning system for the working machine.
  • Patent Literature 1 is known as a technique for performing positioning using a quasi-zenith satellite, that is, a QZSS satellite.
  • Patent Literature 1 performs single positioning based on a positioning signal received from a GNSS satellite, and generates observation data based on a result of the single positioning and satellite positioning correction data received from a QZSS satellite, and generates the generated observation data. More accurate positioning is performed based on the data.
  • Patent Literature 1 it is expected that more accurate positioning can be achieved by independent positioning using a positioning signal of a GNSS satellite and satellite positioning correction data from a QZSS satellite.
  • the GNSS positioning device that receives the positioning signal of the GNSS satellite cannot receive the satellite positioning correction data of the QZSS satellite, and if only the GNSS positioning device is provided in the working machine, the QZSS positioning device is separately provided. Must be provided.
  • the QZSS positioning device is required to have high waterproofness.
  • Patent Literature 1 it is possible to expect a single positioning by a positioning signal of a GNSS satellite and a positioning with higher accuracy by satellite positioning correction data from a QZSS satellite.
  • the GNSS positioning device that receives the positioning signal of the GNSS satellite cannot receive the satellite positioning correction data of the QZSS satellite, and when only the GNSS positioning device is provided on the traveling vehicle, the satellite positioning correction data is not transmitted. The fact is that it is difficult to obtain.
  • an object of the present invention is to provide a positioning device for a working machine that can easily receive a satellite signal of a QZSS satellite even if the working machine has a GNSS positioning device. It is another object of the present invention to provide a positioning system for a working machine that can receive a satellite signal of a QZSS satellite even if the working machine has a GNSS positioning device.
  • the working machine of the present invention includes a first GNSS positioning device capable of performing positioning based on a first satellite signal transmitted from a GNSS satellite, and a QZSS capable of outputting correction information based on a second satellite signal transmitted from a QZSS satellite. It has a positioning device, a first support bracket to which the first GNSS positioning device is mounted, and a second support bracket to which the QZSS positioning device is mounted and which is connected to the first support bracket.
  • the work machine includes a fastener for fixing the first support bracket, the first support bracket and the second support bracket are arranged so that at least a part thereof overlaps, and the fastener is the second fastener.
  • the first support bracket and the second support bracket are fastened together.
  • the working machine includes a cabin having a roof, and the first support bracket and the second support bracket are attached to the roof.
  • the work machine includes an in-vehicle battery and an in-vehicle network
  • the QZSS positioning device has a first terminal supplied with power from the in-vehicle battery, a second terminal connected to the in-vehicle network, A third terminal connected to the first GNSS positioning device and supplying the power supplied to the first terminal to the first GNSS positioning device; and a third terminal connected to the first GNSS positioning device and via the second terminal.
  • a fourth terminal for connecting the first GNSS positioning device to the in-vehicle network.
  • the GNSS positioning device and the QZSS positioning device have a plurality of connectors, and the third terminal and the fourth terminal are connected to the first GNSS positioning device by the plurality of connectors.
  • the QZSS positioning device is connected to the first GNSS positioning device, and has a fifth terminal for outputting correction information obtained by the second satellite signal, and the first GNSS positioning device is connected to the first GNSS positioning device.
  • the first GNSS positioning device includes a first position calculation unit that performs positioning based on observation data of a first satellite signal received by the first GNSS positioning device and correction information input from the fifth terminal.
  • the work machine includes a correction information transmitting unit that transmits correction information obtained by the second satellite signal to the first GNSS positioning device, and the first GNSS positioning device is configured to receive the first GNSS positioning device.
  • a first position calculating unit that performs positioning based on observation data of a satellite signal and correction information transmitted from the correction information transmitting unit;
  • the working machine includes a correction information transmitting unit that transmits correction information obtained by the second satellite signal, and the correction information transmitting unit is provided in a working machine different from the working machine, and the GNSS
  • the correction information generated by the QZSS positioning device is transmitted to a second GNSS positioning device capable of positioning based on the first satellite signal transmitted from the satellite, and the second GNSS positioning device receives the correction information by the second GNSS positioning device.
  • a second position calculating unit that performs positioning based on the observation data of the first satellite signal and the correction information transmitted from the correction information transmitting unit.
  • a work machine a cabin having a panel, a first GNSS positioning device capable of performing positioning based on a first satellite signal transmitted from a GNSS satellite, and a QZSS disposed inside the cabin and attached to the panel.
  • a first antenna for receiving a second satellite signal transmitted from a satellite, an adapter disposed inside the cabin, and outputting correction information based on the second satellite signal received by the first antenna;
  • a second antenna disposed inside the cabin, attached to the panel, and transmitting correction information output from the adapter to the outside.
  • the first GNSS positioning device is provided on a roof of the cabin, a third antenna capable of receiving correction information from the second antenna, and a position calculation unit that performs positioning based on the correction information received by the third antenna. ,have.
  • the second antenna is provided in another working machine and transmits the correction information to a second GNSS positioning device capable of performing positioning based on a first satellite signal transmitted from the GNSS satellite.
  • the panel is a front panel arranged at a front part of the cabin or a rear panel arranged at a rear part of the cabin.
  • the panel includes a front panel disposed at a front part of the cabin, a rear panel disposed at a rear part of the cabin, and a side panel provided at a side part of the cabin, wherein the second antenna includes a front panel, a rear panel. And attached to the side panel.
  • the first antenna and the second antenna are arranged on an upper part of the panel.
  • the adapter is supplied with electric power from a power supply unit provided inside the cabin.
  • the first antenna and the second antenna are plate-shaped microstrip antennas.
  • the first antenna and the second antenna are film antennas.
  • the adapter is provided on the panel.
  • a sucker member is provided for attaching at least one of the first antenna, the second antenna, and the adapter to the panel.
  • a positioning system for a working machine is provided in the first working machine, and a first GNSS positioning device capable of performing positioning based on a first satellite signal transmitted from a GNSS satellite, and a QZSS provided in the first working machine.
  • a QZSS positioning device capable of performing positioning based on a second satellite signal transmitted from a satellite, and correction information provided in the first work machine and obtained by the second satellite signal, A first correction information transmitting unit for transmitting to a different second work machine.
  • the positioning system of the working machine includes a second GNSS positioning device provided in the second working machine and capable of performing positioning based on a first satellite signal transmitted from the GNSS satellite, wherein the second GNSS positioning device is A position calculating unit that obtains a position of the second work machine based on observation data of the first satellite signal received by the second GNSS positioning device and correction information transmitted from the first correction information transmitting unit; .
  • the first correction information transmitting unit transmits the correction information in response to the request when the request is received from the second work machine.
  • the positioning system for the working machine is provided in the second working machine, and transmits the correction information transmitted from the first correction information transmitting unit to a third working machine different from the first working machine and the second working machine.
  • a second correction information transmitting unit for performing the correction is provided in the second working machine, and transmits the correction information transmitted from the first correction information transmitting unit to a third working machine different from the first working machine and the second working machine.
  • a second correction information transmitting unit for performing the correction for performing the correction.
  • the first work machine and the second work machine are a traveling vehicle, a motor provided on the traveling vehicle, a working device mounted on the traveling vehicle and operated by the power of the motor, and steering of the traveling vehicle. And a steering device for performing the following.
  • the steering device changes a steering angle of the traveling vehicle body based on one of the first position and the second position.
  • a working machine having a GNSS positioning device can easily receive a satellite signal of a QZSS satellite.
  • FIG. 2 is a plan view showing a first GNSS positioning device, a QZSS positioning device, a first support bracket, and a second support bracket in the first embodiment. It is a left view which shows the 1st GNSS positioning device, QZSS positioning device, 1st support bracket, and 2nd support bracket in 1st Embodiment.
  • FIG. 2 is an exploded perspective view of a first GNSS positioning device, a QZSS positioning device, a first support bracket, and a second support bracket in the first embodiment.
  • FIG. 4 is a diagram illustrating a configuration and a control block diagram of a tractor according to a modified example of the first embodiment. It is a top view showing the 1st GNSS positioning device, the QZSS positioning device, and the 1st support bracket in the modification of a 1st embodiment. It is a figure showing a tractor management system in a 1st embodiment.
  • FIG. 3 is an explanatory diagram illustrating automatic steering according to the first embodiment. It is a left view which shows the whole tractor in 1st Embodiment. It is a top view showing the whole tractor in a 1st embodiment. It is a left view which shows the whole tractor in 2nd Embodiment.
  • FIG. 5 is an operation flow of a positioning process in a first tractor and a transmission process of transmitting correction information to a second tractor. It is an operation flow when the second tractor requests the first tractor to transmit correction information.
  • FIG. 3 is an explanatory diagram illustrating automatic steering. 1 is an overall view of a tractor.
  • the work implement 1 can be automatically steered based on the position of the work implement 1 calculated from a satellite signal of a GNSS satellite 101 such as a GPS (Global Positioning System).
  • the work machine 1 is an agricultural machine such as a tractor, a combine, or a rice transplanter, or a construction machine such as a backhoe or a loader.
  • FIG. 10 and FIG. 11 are views showing the working machine 1 according to one embodiment of the present invention.
  • the tractor 1 includes a traveling vehicle (traveling vehicle body) 3 having a traveling device 7, a motor 4, and a transmission 5.
  • the front side (the left side in FIG. 10) of the driver (operator) sitting on the driver's seat 10 of the tractor 1 is forward
  • the rear side (the right side in FIG. 10) is the rear
  • the left side of the driver is forward
  • the rear side the right side in FIG. 10
  • the following description will be made with the left side (the front side in FIG. 10) and the right side (the rear side in FIG. 10) of the driver.
  • a horizontal direction which is a direction orthogonal to the front and rear directions will be described as a width direction.
  • the direction from the center of the traveling vehicle (traveling vehicle body) 3 to the right or left portion will be described as outward.
  • the outside is the width direction and the direction away from the traveling vehicle 3.
  • the direction opposite to the outside will be described as the inside.
  • “inward” is the width direction and the direction approaching the traveling vehicle 3. 10 and 11, arrow A1 indicates the front, arrow A2 indicates the rear, arrow B1 indicates the left, and arrow B2 indicates the right.
  • the traveling device 7 is a device having a front wheel 7F and a rear wheel 7R.
  • the front wheel 7F may be of a tire type or a crawler type.
  • the rear wheel 7R may be of a tire type or a crawler type.
  • the prime mover 4 is a diesel engine, an electric motor, or the like.
  • the transmission 5 can switch the propulsion force of the traveling device 7 by changing the speed, and can switch the traveling device 7 between forward and reverse.
  • a connecting portion 8 constituted by a three-point link mechanism or the like is provided at a rear portion of the traveling vehicle 3.
  • a working device (not shown) can be attached to and detached from the connecting portion 8. By connecting the working device to the connecting portion 8, the working device can be pulled by the traveling vehicle 3.
  • the working devices include a tilling device for tilling, a fertilizer spraying device for spraying fertilizer, a pesticide spraying device for spraying pesticides, a harvesting device for harvesting, a cutting device for cutting grass and the like, a diffusion device for spreading grass and the like, and a pasture. And a shaping device for shaping grass and the like.
  • FIG. 1 is a diagram showing a configuration and a control block diagram of the tractor 1.
  • the transmission 5 includes a main shaft (propulsion shaft) 5a, a main transmission unit 5b, an auxiliary transmission unit 5c, a shuttle unit 5d, and a PTO power transmission unit 5e.
  • the propulsion shaft 5a is rotatably supported by a housing case of the transmission 5, and power from a crankshaft of the prime mover 4 is transmitted to the propulsion shaft 5a.
  • the main transmission unit 5b has a plurality of gears and a shifter that changes the connection of the gears.
  • the main transmission unit 5b changes and outputs (shifts) the rotation input from the propulsion shaft 5a by appropriately changing the connection (engagement) of the plurality of gears with a shifter.
  • the auxiliary transmission unit 5c has a plurality of gears and a shifter that changes the connection of the gears, similarly to the main transmission unit 5b.
  • the subtransmission unit 5c changes and outputs (shifts) the rotation input from the main transmission unit 5b by appropriately changing the connection (engagement) of the plurality of gears with a shifter.
  • the shuttle unit 5d has a shuttle shaft 12 and a forward / reverse switching unit 13.
  • the power output from the auxiliary transmission unit 5c is transmitted to the shuttle shaft 12 via gears or the like.
  • the forward / reverse switching unit 13 is constituted by, for example, a hydraulic clutch or the like, and switches the rotation direction of the shuttle shaft 12, that is, the forward and backward movements of the tractor 1 by turning on / off the hydraulic clutch.
  • the shuttle shaft 12 is connected to a rear wheel differential device.
  • the rear wheel differential device rotatably supports a rear axle 29R to which the rear wheel 7R is attached.
  • the PTO power transmission unit 5e includes a PTO propulsion shaft 14 and a PTO clutch 15.
  • the PTO propulsion shaft 14 is rotatably supported, and can transmit power from the propulsion shaft 5a.
  • the PTO propulsion shaft 14 is connected to the PTO shaft 16 via a gear or the like.
  • the PTO clutch 15 is composed of, for example, a hydraulic clutch or the like, and the power of the propulsion shaft 5a is transmitted to the PTO propulsion shaft 14 when the hydraulic clutch is turned on and off, and the power of the propulsion shaft 5a is not transmitted to the PTO propulsion shaft 14. Switch to the state.
  • FIG. 2 is a diagram showing the cabin 9. Specifically, FIG. 2 is a perspective view of the cabin 9 as viewed from the rear left. In FIG. 2, arrow A1 indicates the front, arrow A2 indicates the rear, arrow B1 indicates the left, and arrow B2 indicates the right.
  • the cabin 9 includes a roof 9a, a plurality of front supports 71, a plurality of rear supports 73, a connection frame 74, and a panel.
  • the roof 9a is a member constituting a ceiling of the cabin 9, and is supported by a plurality of front struts 71, a plurality of rear struts 73, and a connection frame 74.
  • the plurality of front struts 71 include a first front strut 711 and a second front strut 712.
  • the first front support 711 and the second front support 712 extend upward. Specifically, the first front support 711 and the second front support 712 are curved rearward upward from the lower end.
  • the first front support 711 and the second front support 712 are spaced apart in the width direction, the first front support 711 is located at the left front end, and the second front support 712 is located at the right front end. ing.
  • the plurality of rear struts 73 are located behind the plurality of front struts 71 and include a first rear strut 731 and a second rear strut 732.
  • the first rear support 731 and the second rear support 732 extend upward.
  • the first rear support 731 and the second rear support 732 are arranged apart from each other in the width direction of the fuselage.
  • the first rear support 731 is located at the left rear, and the second rear support 732 is located at the right rear. are doing.
  • connection frame 74 is a frame that connects the front support 71 and the rear support 73, and has an upper connection frame 74a and a lower connection frame 74b.
  • the upper connection frame 74a connects the upper ends of the first front support 711, the second front support 712, the first rear support 731, and the second rear support 732.
  • the lower connection frame 74b connects the lower ends of the first front support 711, the second front support 712, the first rear support 731, and the second rear support 732.
  • the panel includes a front panel 75, a rear panel 76, and a door panel 77.
  • the front panel 75, the rear panel 76, and the door panel 77 are formed of, for example, a transparent member such as glass or an acrylic plate.
  • the front panel 75 is arranged at the front of the cabin 9. The operator sitting in the driver's seat 10 can visually recognize the front of the tractor 1 from the inside of the cabin via the front panel 75.
  • the front panel 75 is fixed to the plurality of front supports 71 (first front supports 711 and second front supports 712), the connection frame 74, and the roof 9a.
  • the rear panel 76 is disposed at the rear of the cabin 9.
  • the operator sitting in the driver's seat 10 can visually recognize the rear of the tractor 1 from the inside of the cabin via the rear panel 76.
  • the rear panel 76 is surrounded by a plurality of rear supports 73 (first rear supports 731 and second rear supports 732), a connection frame 74, and a roof 9a.
  • the portion surrounded by the first front support 711, the first rear support 731, and the connection frame 74 forms the entrance 63 for the operator to get on and off.
  • the door panel 77 is a member that closes the entrance 63 so that it can be opened and closed.
  • the door panel 77 is supported by a hinge 78 attached to the rear side of the entrance 63 (the front side of the first rear column 731). The hinge 78 supports the door panel 77 so that it can be opened and closed.
  • a steering device 11 is provided inside the cabin.
  • a steering device 11 includes a steering wheel (steering wheel) 11a, a steering shaft (rotating shaft) 11b that rotates with the rotation of the steering wheel 11a, and an auxiliary mechanism (power steering) that assists the steering of the steering wheel 11a.
  • Mechanism 11c As shown in FIG. 1, the auxiliary mechanism 11 c includes a hydraulic pump 21, a control valve 22 to which hydraulic oil discharged from the hydraulic pump 21 is supplied, and a steering cylinder 23 operated by the control valve 22.
  • the control valve 22 is an electromagnetic valve that operates based on a control signal.
  • the control valve 22 is, for example, a three-position switching valve that can be switched by moving a spool or the like.
  • the control valve 22 can also be switched by steering the steering shaft 11b.
  • the steering cylinder 23 is connected to an arm (knuckle arm) 24 that changes the direction of the front wheel 7F.
  • the switching position and the opening degree of the control valve 22 are switched according to the steering wheel 11a, and the steering cylinder 23 is moved left or right according to the switching position and the opening degree of the control valve 22.
  • the steering direction of the front wheel 7F can be changed. That is, the tractor 1 (the traveling vehicle body 3) can be manually steered by the steering device 11.
  • the steering of the tractor 1 can be performed automatically.
  • the steering device 11 has an automatic steering mechanism 25.
  • the automatic steering mechanism 25 is a mechanism that performs automatic steering of the traveling vehicle body 3 and automatically steers the traveling vehicle body 3 based on the position of the traveling vehicle body 3 (vehicle position) and a preset traveling line.
  • the automatic steering mechanism 25 includes a steering motor 26 and a gear mechanism 27.
  • the steering motor 26 is a motor whose rotation direction, rotation speed, rotation angle, and the like can be controlled based on the current position.
  • the gear mechanism 27 includes a gear provided on the steering shaft 11b and rotating with the steering shaft 11b, and a gear provided on the rotating shaft of the steering motor 26 and rotating with the rotating shaft.
  • the steering shaft 11b automatically rotates (rotates) via the gear mechanism 27, and changes the steering direction of the front wheels 7F so that the vehicle body position coincides with the planned traveling line. can do.
  • the above-described steering device 11 is an example, and is not limited to the above-described configuration.
  • the tractor 1 includes a control device 17 and a communication device 18.
  • the control device 17 receives an operation signal when operating an operation tool (operation lever, operation switch, operation volume, etc.) installed around the driver's seat 10, a detection signal of various sensors mounted on the traveling vehicle body 3, and the like.
  • the control of the traveling system and the working system of the tractor 1 is performed based on this.
  • the control device 17 performs control to raise and lower the working device based on an operation of the operating tool (operation signal), and controls the rotation speed of the prime mover 4 based on an accelerator pedal sensor.
  • the control device 17 is connected to devices provided in the tractor 1 via an in-vehicle network N such as CAN, LIN, and FlexRay.
  • the control device 17 may be any device that controls the working system and traveling system of the tractor, and the control method is not limited.
  • the tractor 1 is provided with a positioning device that detects the position of the tractor 1 (vehicle position).
  • the positioning device provided in the tractor will be described in detail.
  • the tractor 1 includes a first GNSS positioning device 31.
  • the first GNSS positioning device 31 performs positioning based on a satellite signal of a GNSS satellite 101 such as a GPS (Global Positioning System).
  • the first GNSS positioning device 31 is provided on the tractor 1.
  • the first GNSS positioning device 31 is connected to the control device 17 and the communication device 18 provided in the tractor 1.
  • the first GNSS positioning device 31 outputs at least information on positioning to the control device 17 and the communication device 18.
  • the first GNSS positioning device 31 has a housing 31a for housing electronic and electronic components and the like.
  • the housing 31a is, for example, a substantially rectangular parallelepiped whose length in the front-rear direction is longer than the lengths in the width direction and the height direction.
  • the housing 31a has a bottom plate 131a, a peripheral wall 131b, and a top plate 131c.
  • the bottom plate 131a has a substantially rectangular shape in which the length in the front-rear direction is longer than the length in the width direction.
  • the peripheral wall 131b protrudes upward from an end of the bottom plate 131a.
  • the top plate 131c covers the upper part of the peripheral wall 131b, and is curved downward, for example, forward.
  • the bottom plate 131a, the peripheral wall 131b, and the top plate 131c form a space for housing electronic / electronic components and the like.
  • a hole 131e through which a bolt 131d is inserted is formed on the lower surface of the bottom plate 131a.
  • the housing 31a is attached to the roof 9a of the cabin 9 of the first tractor 1.
  • the first GNSS positioning apparatus 31 has an antenna 31b for receiving a satellite signal (first satellite signal) of the GNSS satellite 101.
  • the antenna 31b receives the L1 signal (center frequency: 1575.42 MHz) and the L2 signal (center frequency: 1227.60 MHz) transmitted from the GNSS satellite 101 as the first satellite signal.
  • the L1 signal includes a navigation message, a C / A code, and an L1 carrier, and the L2 signal includes at least an L2 carrier.
  • the first GNSS positioning device 31 includes a signal processing unit 31c, a first position calculation unit 31d, and an output unit 31f, in addition to the housing 31a and the antenna 31b.
  • the signal processing unit 31c, the first position calculation unit 31d, and the output unit 31f are configured by electronic / electronic parts and the like provided in the first GNSS positioning device 31.
  • the signal processing unit 31c is a unit that processes satellite signals received by the antenna 31b, and generates observation data by, for example, amplifying and demodulating the L1 signal and the L2 signal received by the antenna 31b.
  • the first position calculation unit 31d performs positioning based on at least observation data (demodulated L1 signal and L2 signal) output from the signal processing unit 31c. That is, the first position calculation unit 31d can perform single positioning based on the observation data (first observation data) of the GNSS satellite 101.
  • the output unit 31f outputs the result (first positioning result) calculated by the first position calculation unit 31d to at least one of the control device 17 and the communication device 18.
  • the tractor 1 includes a QZSS positioning device 32 in addition to the first GNSS positioning device 31.
  • the QZSS positioning device 32 outputs correction information based on a satellite signal of a quasi-zenith satellite (QZSS (Quasi-Zenith Satellite System) satellite) 102 such as Michibiki.
  • QZSS Quadrati-Zenith Satellite System
  • the QZSS positioning device 32 has a housing 32a that houses electronic and electronic components and the like.
  • the housing 32a is, for example, a substantially rectangular parallelepiped whose length in the width direction is longer than the length in the height direction and the front-back direction.
  • the housing 32a has a bottom plate 132a, a peripheral wall 132b, and a top plate 132c.
  • the bottom plate 132a has a substantially rectangular shape whose length in the width direction is longer than the length in the front-rear direction.
  • the peripheral wall 132b protrudes upward from the end of the bottom plate 132a.
  • the top plate 132c covers the upper part of the peripheral wall 132b.
  • the bottom plate 132a, the peripheral wall 132b, and the top plate 132c form a space for accommodating electronic and electronic components and the like.
  • a hole 132e into which the bolt 132d is inserted is formed on the lower surface of the bottom plate 132a.
  • the housing 32a is attached to the roof 9a of the cabin 9 alongside the housing 31a.
  • the QZSS positioning device 32 has an antenna 32b for receiving a satellite signal (second satellite signal) of the quasi-zenith satellite 102.
  • the antenna 32b receives at least the L6 signal (center frequency 1278.75 MHz) transmitted from the QZSS satellite 102 as the second satellite signal.
  • the L6 signal includes correction information (centimeter-class positioning reinforcement information).
  • the correction information includes satellite clock error information, satellite signal bias error correction value, satellite orbit error information, tropospheric propagation error information, ionospheric propagation error information, and the like.
  • the QZSS positioning device 32 has a signal processing unit 32c and an output unit 32e in addition to the housing 32a and the antenna 32b.
  • the signal processing unit 32c and the output unit 32e are configured by electronic / electronic components and the like provided in the QZSS positioning device 32.
  • the signal processing unit 32c is a unit that processes the satellite signal received by the antenna 32b, and generates observation data by, for example, amplifying and demodulating the L6 signal received by the antenna 32b.
  • the output unit (correction information output unit) 32e outputs the L6 signal demodulated by the signal processing unit 32c, that is, the correction information obtained from the L6 signal, to the first GNSS positioning device 31.
  • the first GNSS positioning device 31 and the QZSS positioning device 32 each have a plurality of connectors 133. At least one of the connector 133 on the first GNSS positioning device 31 side and the connector 133 on the QZSS positioning device 32 side can be connected to each other. Specifically, for example, the connectors 133 connected to each other are connected by fitting one side of the connectors 133 to the connector 133 on the other side. As a result, the arrangement between the GNSS positioning device 31 and the QZSS positioning device 32 is simplified and can be easily connected. For this reason, the high-precision positioning function by the QZSS positioning device 32 can be easily introduced and removed.
  • the plurality of connectors 133 include first to fifth connectors.
  • the first GNSS positioning device 31 has a first connector 133a and a second connector 133b.
  • the first connector 133a and the second connector 133b are formed at the rear of the housing 31a. Specifically, the first connector 133a and the second connector 133b protrude rearward from the rear surface of the peripheral wall 131b.
  • the first connector 133a has, for example, a sixth terminal 134f and a seventh terminal 134g.
  • the sixth terminal 134f is an input terminal that supplies power to electronic and electronic devices inside the first GNSS positioning device 31.
  • the sixth terminal 134f includes a + terminal and a GND terminal.
  • the seventh terminal 134g is an input / output terminal for connecting the first GNSS positioning device 31 to the control device 17.
  • the second connector 133b has, for example, an eighth terminal 134h.
  • the eighth terminal 134h is an input terminal for inputting information to an electronic / electronic device inside the first GNSS positioning device 31.
  • the QZSS positioning device 32 has a third connector 133c, a fourth connector 133d, and a fifth connector 133e.
  • the third connector 133c is formed at the rear of the housing 32a. Specifically, the third connector 133c protrudes rearward from the rear surface of the peripheral wall 132b.
  • the fourth connector 133d and the fifth connector 133e are formed at the front of the housing 32a. Specifically, the fourth connector 133d and the fifth connector 133e protrude forward from the front surface of the peripheral wall 132b.
  • the third connector 133c has a first terminal 134a and a second terminal 134b.
  • the first terminal 134a is an input terminal for supplying power to the electronic / electronic device inside the QZSS positioning device 32.
  • the first terminal 134a includes a + terminal and a GND terminal.
  • the second terminal 134b is an input / output terminal for connecting the QZSS positioning device 32 to the control device 17.
  • the third connector 133c is connected to a cable 9b routed from, for example, an upper portion of the roof 9a.
  • the cable 9b is connected to the vehicle-mounted battery 2 provided on the tractor 1 and the vehicle-mounted network N.
  • the first terminal 134a is supplied with power from the vehicle-mounted battery 2 (tractor 1).
  • the second terminal 134b is connected to the control device 17 of the tractor 1 via the on-vehicle network N.
  • the fourth connector 133d is connected to the first connector 133a.
  • the fourth connector 133d has a third terminal 134c and a fourth terminal 134d.
  • the third terminal 134c supplies the power supplied from the tractor (working machine) 1 to the first terminal 134a to a terminal connected to the third terminal 134c.
  • the third terminal 134c is connected to the sixth terminal 134f (the first GNSS positioning device 31) by the fourth connector 133d and the first connector 133a.
  • the third terminal 134c supplies power to the first GNSS positioning device 31.
  • Third terminal 134c includes a + terminal and a GND terminal.
  • the third terminal 134c is an output terminal that supplies the power supplied to the first terminal 134a to the sixth terminal 134f.
  • the QZSS positioning device 32 has a branch path 32g.
  • one side of the branch path 32g is connected to the first terminal 134a.
  • the branch path 32g is branched in the middle part, and is connected to the electronic / electronic device inside the QZSS positioning device 32 and the third terminal 134c. That is, the power supplied to the first terminal 134a is supplied to the sixth terminal 134f (GNSS positioning device 31) via the branch path 32g and the third terminal 134c.
  • the fourth terminal 134d is an input / output terminal for connecting the terminal connected to the fourth terminal 134d and the in-vehicle network N via the second terminal 134b. Specifically, the fourth terminal 134d is connected to the seventh terminal 134g (GNSS positioning device 31) by a fourth connector 133d and a first connector 133a. Thus, the fourth terminal 134d connects the seventh terminal 134g (GNSS positioning device 31) to the in-vehicle network N.
  • the fifth connector 133e is connected to the second connector 133b.
  • the fifth connector 133e has a fifth terminal 134e.
  • the fifth terminal 134e is an output terminal that outputs information from an electronic / electronic device inside the QZSS positioning device 32.
  • the fifth terminal 134e is connected to the eighth terminal 134h (the first GNSS positioning device 31), and the QZSS positioning device 32 outputs correction information to the first GNSS positioning device 31.
  • the QZSS positioning device 32 outputs the correction information to the first GNSS positioning device 31 by wire communication.
  • the path for supplying power to the first GNSS positioning apparatus 31 and the path for connecting the first GNSS positioning apparatus 31 to the in-vehicle network N can be shared by the QZSS positioning apparatus 32.
  • the QZSS positioning device 32 it is not necessary to add a power supply path and a communication path separately, and it is not necessary to process the tractor 1. That is, introduction of the QZSS positioning device 32 to the tractor 1 becomes possible at low cost, and even the tractor 1 having the first GNSS positioning device 31 can easily receive the satellite signal of the QZSS satellite 102.
  • the first GNSS positioning device 31 that has received the correction information from the QZSS positioning device 32 via the fifth terminal 134e and the eighth terminal 134h performs positioning based on the correction information.
  • the first GNSS positioning device 31 has an acquisition unit 31e.
  • the acquisition unit 31e is configured by electronic / electronic components and the like provided in the first GNSS positioning device 31.
  • the correction information output by the QZSS positioning device 32 is obtained by the obtaining unit 31e, and the obtained information is output to the first position calculating unit 31d.
  • the first position calculation unit 31d of the first GNSS positioning device 31 is based on observation data (demodulated L1 signal and L2 signal) output from the signal processing unit 31c and correction information input from the fifth terminal 134e.
  • the first position calculation unit 31d performs positioning based on the observation data of the first satellite signal received by the first GNSS positioning device 31 and the correction information input from the fifth terminal 134e. That is, the first position calculation unit 31d performs precise positioning based on the observation data (second observation data) of the QZSS satellite 102. Thereby, the correction information received by the QZSS positioning device 32 can be output to the first GNSS positioning device 31 by wired communication. Further, high-precision positioning can be performed by also using the first position calculation unit 31d of the first GNSS positioning device 31.
  • the tractor 1 on which the first GNSS positioning device 31 is mounted can also easily perform positioning using the satellite signal of the QZSS satellite 102.
  • the first position calculation unit 31d performs the processing based on the observation data (demodulated L1 signal and L2 signal) output from the signal processing unit 31c. And perform positioning. That is, the first position calculation unit 31d performs the single positioning based on the observation data (first observation data) of the GNSS satellite 101.
  • the plurality of connectors 133 include the first to fifth connectors, but the number of connectors 133 and the combination of the connectors 133 and the respective terminals are not limited to the above-described configuration.
  • the first connector 133a may have a configuration having only the sixth terminal 134f, or the first connector 133a may have a configuration having sixth to eighth connectors.
  • the QZSS positioning device 32 outputs the correction information to the first GNSS positioning device 31 via the fifth terminal 134e and the eighth terminal 134h, but the QZSS positioning device 32 performs the correction by wireless communication.
  • the information may be transmitted to the first GNSS positioning device 31.
  • the first GNSS positioning device 31 and the QZSS positioning device 32 have a communication unit capable of wireless communication with each other.
  • the first GNSS positioning device 31 has an antenna 31g
  • the QZSS positioning device 32 has a correction information transmitting unit (antenna) 32f capable of wireless communication with the antenna 31g.
  • the antenna 31g receives the correction information transmitted from the antenna 32f.
  • the antenna 31g is a short-range communication device or a communication device that performs wireless communication using a mobile phone communication network, a data communication network, a mobile phone communication network, or the like.
  • the communication method of the antenna 31g is not limited, and may be, for example, the communication standard IEEE 802.15.1 series, the communication standard IEEE 802.11 series, or another communication method.
  • the antenna 32f transmits the correction information output from the output unit 32e of the QZSS positioning device 32 to the outside. Specifically, for example, the antenna 32f transmits the correction information to the antenna 31g. The antenna 32f transmits the correction information output from the output unit 32e to the outside.
  • the antenna 32f is a short-range communication device or a communication device that performs wireless communication through a mobile phone communication network, a data communication network, a mobile phone communication network, or the like.
  • the communication system of the antenna 32f is not limited, and may be, for example, the communication standard IEEE 802.15.1 series, the communication standard IEEE 802.11 series, or another communication system.
  • the acquisition unit 31e acquires the correction information received by the antenna 31g from the antenna 32f, and outputs the acquired information to the first position calculation unit 31d.
  • the first position calculation unit 31d performs positioning based on the observation data of the first satellite signal received by the first GNSS positioning device 31 and the correction information transmitted from the correction information transmission unit 32f. Thereby, the correction information received by the QZSS positioning device 32 can be output to the first GNSS positioning device 31 by wireless communication. Further, high-precision positioning can be performed by also using the first position calculation unit 31d of the first GNSS positioning device 31. For this reason, conventionally, the tractor 1 on which the first GNSS positioning device 31 is mounted can also easily perform positioning using the satellite signal of the QZSS satellite 102.
  • the tractor 1 includes a first support bracket 141, a second support bracket 142, and a fastener 131f.
  • the first support bracket 141 is a member to which the first GNSS positioning device 31 is attached and that attaches the first GNSS positioning device 31 to the roof 9a.
  • the first support bracket 141 is disposed above the roof 9a.
  • the first support bracket 141 has a first mounting portion 141a and a first extending portion 141c.
  • the first attachment part 141a is a part to which the first GNSS positioning device 31 is attached.
  • the first mounting portion 141a is, for example, a substantially rectangular plate member in plan view.
  • the first GNSS positioning device 31 is attached to the first attachment portion 141a via a bolt 131d.
  • a hole 141b through which the bolt 131d passes is formed in the first mounting portion 141a.
  • the hole 141b penetrates in the thickness direction.
  • the first GNSS positioning device 31 is attached to the first mounting portion 141a by the bolt 131d, but the first GNSS positioning device 31 is not limited to the above-described configuration as long as the first GNSS positioning device 31 can be fixed.
  • the first GNSS positioning device 31 has an engaged portion (hooked portion), and the first mounting portion 141a has an engaging portion (hook portion) engaged with the engaged portion.
  • the mounting method is not limited to this.
  • the first extending portion 141c is a portion extending from the widthwise end of the first mounting portion 141a outward in the widthwise direction.
  • the first extending portion 141c includes a front extending portion 141c1 and a rear extending portion 141c2.
  • the front-side extending portion 141c1 is a portion extending in the width direction from the front side of the width-direction end of the first mounting portion 141a.
  • the rear extending portion 141c2 is a portion extending in the width direction from the rear side of the widthwise end of the first mounting portion 141a.
  • a mounting hole 141d penetrating in the thickness direction is formed in the first extending portion 141c.
  • the second support bracket 142 has the QZSS positioning device 32 attached thereto and is connected to the first support bracket 141.
  • the second support bracket 142 is disposed above the roof 9a. Thereby, the first GNSS positioning device 31 and the QZSS positioning device 32 are arranged above the work implement 1. For this reason, it is possible to suppress obstruction of reception of satellite signals of the first GNSS positioning device 31 and the QZSS positioning device 32 due to obstacles.
  • the second support bracket 142 is, for example, substantially gate-shaped in plan view.
  • the second support bracket 142 has a second mounting part 142a, a protruding part 142c, and a second extending part 142d.
  • the second attachment part 142a is a part to which the QZSS positioning device 32 is attached.
  • the second mounting portion 142a is, for example, a substantially rectangular plate member in plan view.
  • the QZSS positioning device 32 is attached to the second attachment portion 142a via a bolt 132d.
  • the second mounting portion 142a has a hole 142b through which the bolt 132d passes. Specifically, the hole 142b penetrates in the thickness direction.
  • the QZSS positioning device 32 is attached to the second mounting portion 142a with the bolt 132d, but the configuration is not limited to the above-described configuration as long as the QZSS positioning device 32 can be fixed.
  • the QZSS positioning device 32 has an engaged portion (hooked portion), and the second mounting portion 142a has an engaging portion (hook portion) that engages with the engaged portion.
  • the mounting method is not limited to this.
  • the protrusion 142c protrudes downward from the lower surface of the rear part of the second mounting part 142a. More specifically, as shown in FIG. 4, the vertical thickness T1 of the protruding portion 142c matches the vertical thickness T2 of the first mounting portion 141a. In other words, in a state where the first support bracket 141 and the second support bracket 142 are fixed to the roof 9a, the lower surface of the protrusion 142c and the lower surface of the first mounting portion 141a are flush. In the present embodiment, the protrusion 142c protrudes only from the rear portion of the lower surface of the second mounting portion 142a, but the second support bracket 142 has a configuration having a plurality of protrusions 142c. Is also good. For example, the protrusion 142c may be configured to protrude downward from both the front part and the rear part of the lower surface of the second mounting part 142a.
  • the second extending portion 142d is a portion extending forward from the front end of the second mounting portion 142a. Specifically, the second extending portion 142d extends from both ends in the width direction of the front end of the second mounting portion 142a.
  • the second extending portion 142d has a mounting hole 142e penetrating in the thickness direction. As shown in FIG. 3, the center of one of the mounting holes 142e formed in the second extending portion 142d, the length to the center of the other mounting hole 142e, and the one of the ones formed in the rear extending portion 141c2.
  • the center of the mounting hole 141d and the length to the center of the other mounting hole 141d match.
  • the mounting hole 142e of the second extending portion 142d and the mounting hole 141d of the rear extending portion 141c2 overlap (overlap).
  • the first support bracket 141 and the second support bracket 142 are arranged so as to at least partially overlap.
  • the distance between the centers of the mounting holes 141d formed in the front extension 141c1 and the distance between the centers of the mounting holes 141d formed in the rear extension 141c2 match.
  • the attachment hole 142e of the second extension portion 142d and the attachment hole 141d of the rear extension portion 141c2 only need to overlap (overlap), and the present invention is not limited to the above configuration.
  • the fastener 131f is a member for fixing the first support bracket 141 to the roof 9a (tractor 1).
  • the fastener 131f is, for example, a bolt.
  • the fastener 131f is inserted through the mounting hole 142e of the second extending portion 142d, the mounting hole 141d of the rear extending portion 141c2, and the hole formed on the upper surface of the roof 9a.
  • the fastener 131f fixes the first support bracket 141 and the second support bracket 142 to the roof 9a.
  • the fastener 131f fastens the first support bracket 141 and the second support bracket 142 together.
  • the fastener 131f is a bolt, but it is sufficient that the first support bracket 141 and the second support bracket 142 can be fastened together and fixed, and the fastener 131f may be a rivet or a screw.
  • the QZSS positioning device 32 can be fixed to the tractor 1 via the first support bracket 141 and the second support bracket 142. Therefore, the QZSS positioning device 32 can be attached to the tractor 1 without separately processing the tractor 1. That is, it is possible to introduce the QZSS positioning device 32 into the tractor 1 at low cost.
  • the second support bracket 142 can be connected to the first support bracket 141 by also using the fastener 131f for fixing the first support bracket 141 to the tractor 1.
  • the QZSS positioning device 32 when the QZSS positioning device 32 is fixed to the tractor 1 via the second support bracket 142, the number of components can be reduced. That is, the second support bracket 142 can be fixed to the tractor 1 at lower cost.
  • the first GNSS positioning device 31 is disposed in front of the QZSS positioning device 32.
  • the QZSS positioning device 32 is attached to the tractor 1 by using the method of attaching the first GNSS positioning device 31 to the tractor 1.
  • the positional relationship between the first GNSS positioning device 31 and the QZSS positioning device 32 is not limited to the above-described configuration. Specifically, for example, the first GNSS positioning device 31 and the QZSS positioning device 32 may be arranged in parallel in the width direction.
  • the tractor 1 includes the first support bracket 141, the second support bracket 142, and the fastener 131f.
  • the mounting portion 141a of the first support bracket 141 In the case where there is a region where the housing 31a and the housing 32a are attached, a configuration in which both the first GNSS positioning device 31 and the QZSS positioning device 32 are mounted on the first support bracket 141 may be employed.
  • the QZSS positioning device 32 is attached to the first support bracket 141 with a bolt, a magnet 141e, or the like.
  • the QZSS positioning device 32 is attached to the first support bracket 141 by a magnet 141e.
  • the tractor 1 can transmit at least information on positioning in the QZSS positioning device 32 to another tractor.
  • first tractor 1A the tractor 1 provided with the first GNSS positioning device 31 and the QZSS positioning device 32
  • second tractor 1B the first tractor 1A and the second tractor 1B include a traveling vehicle (traveling vehicle body) 3, a prime mover 4, a transmission 5, a traveling device 7, a steering device 11, an automatic steering mechanism 25, and a control device. 17, the communication device 18 is provided, and the basic configuration is the same for both the first tractor 1A and the second tractor 1B.
  • the first position calculation unit 31d of the first GNSS positioning device 31 transmits the acquired correction information (satellite clock error information, satellite signal bias). Error information, satellite orbit error information, tropospheric propagation error information, ionospheric propagation error information), and first observation information of L1 and L2 signals (navigation message, C / A code, L1 carrier, etc.) received by the antenna 31b. Is used to determine the physical position (latitude, longitude, height) of the first GNSS positioning device 31. As described above, when the first position calculation unit 31d obtains a position using the correction information, the output unit 31f outputs the obtained position (positioning result) to the control device 17.
  • the first tractor 1A includes a correction information transmitting unit (antenna) 32f that transmits the correction information received by the antenna 32b to another tractor, that is, the second tractor 1B.
  • the antenna 32b of the QZSS positioning device 32 receives the second satellite signal including the L6 signal, and corrects the correction information obtained by demodulating the received second satellite signal by the signal processing unit 32c to the second tractor 1B.
  • the correction information transmitting unit is the antenna 32f of the QZSS positioning device 32.
  • the correction information transmitting unit is the communication device 18 provided in the first tractor 1A. You may.
  • the second tractor 1B includes a second GNSS positioning device 33 capable of performing positioning based on the first satellite signal.
  • the second GNSS positioning device 33 has a housing 33a, an antenna 33b, a signal processing unit 33c, a second position calculation unit 33d, and a correction information receiving unit.
  • the housing 33a is attached to the roof 9a of the cabin 9 of the second tractor 1B.
  • the antenna 33b receives the first satellite signal similarly to the antenna 31b.
  • the correction information receiving unit is a device that receives the correction information transmitted from the first tractor 1A.
  • the correction information receiving unit is shared with the communication device 18 provided in the second tractor 1B. Note that the correction information receiving unit and the communication device 18 may be configured separately.
  • the signal processing unit 33c and the second position calculation unit 33d are configured by electronic and electronic components provided in the second GNSS positioning device 33.
  • the signal processing unit 33c is a unit that processes satellite signals received by the antenna 33b, and generates observation data by, for example, amplifying and demodulating the L1 signal and the L2 signal received by the antenna 33b.
  • the second position calculation unit 33d includes the observation data (demodulated L1 signal and L2 signal) output from the signal processing unit 33c, the correction information acquired by the communication device (correction information receiving unit) 18 of the second tractor 1B, That is, positioning is performed based on the correction information transmitted from the first tractor 1A.
  • the second position calculation unit 33d outputs the received correction information and the L1 signal and the L2 signal (navigation message, C / A code, L1 carrier, etc.) received by the antenna 33b.
  • the physical position (latitude, longitude, height) of the second GNSS positioning device 33 is obtained using the first observation information.
  • the tractor 1 without the antenna 32b for receiving the second satellite signal transmitted from the QZSS satellite 102 can also receive the correction information. For this reason, a highly accurate position detection function can be introduced to the plurality of tractors 1 at low cost.
  • the transmission of the correction information from the first tractor 1A to the second tractor 1B may be performed sequentially, but the correction information transmission unit (communication device 18) of the first tractor 1A receives a request from the second tractor 1B. In such a case, the correction information may be transmitted according to a request.
  • the communication device 18 of the first tractor 1A connects to the mobile terminal (smartphone, tablet) 200 or the management server 201 before or during the work of the agricultural work in the first tractor 1A.
  • the mobile terminal 200 or the management server 201 transmits a preset work plan to the communication device 18 of the first tractor 1A.
  • the work plan includes a self-work plan performed by the tractor 1A itself and a work plan performed by another person other than the tractor 1B.
  • Both the self-work plan and the work plan for other people include workplaces such as the field where work is performed, work time such as date and time, work contents such as tilling, wiping, harvesting, reaping, weeding, chemical spraying, fertilizing, etc., and machine information.
  • the machine information includes at least identification information for identifying the tractor.
  • the control device 17 of the first tractor 1A acquires the self-work plan and the other-person work plan via the communication device 18, the control device 17 refers to the self-work plan and the other-person work plan, and near the work place indicated by the self-work plan. In addition, it is determined whether or not there is a second tractor (referred to as a nearby tractor) 1B that performs work at substantially the same work time. For example, the control device 17 determines whether or not there is a neighboring tractor with a radius of about 5 km around the work site where the work of the first tractor 1A is performed.
  • the control device 17 of the first tractor 1A issues a connection request to the communication device 18 of the neighboring tractor 1B, and the communication device 18 of the first tractor 1A and the communication device 18 of the neighboring tractor 1B communicate with each other. Perform pairing.
  • the communication device 18 of the first tractor 1A is in operation, for example, while traveling, while driving the work device, 4, the correction information is transmitted to the neighboring tractor 1B. In this way, the first tractor 1A can transmit the correction information when the second tractor 1B exists within the range of the predetermined distance.
  • the control device 17 of the first tractor 1A determines the neighboring tractor. However, the control device 17 of the second tractor 1B is close to the work place indicated by the self-work plan and substantially. It is determined whether or not there is a first tractor (referred to as a nearby tractor) 1A that works at the same working time, and when the nearby tractor 1A exists, a request for transmission of correction information is made to the nearby tractor 1A. You may.
  • a nearby tractor referred to as a nearby tractor
  • the control devices 17 of the first tractor 1A and the second tractor 1B can perform automatic steering based on the result of positioning such as the position.
  • FIG. 9 shows the relationship between the position of the tractor 1 in automatic steering and the planned traveling line Z1.
  • the travel scheduled line Z1 is set in advance by a personal computer or a portable terminal (smartphone, tablet) 200, and is transferred to the control device 17 or the like by wireless communication, wired communication, or a storage medium.
  • the tractor 1 may be provided with a display device 19 of a touch panel type or the like so that the travel scheduled line Z1 can be input to the display device 19.
  • the travel schedule line Z1 is associated with latitude and longitude at the time of setting.
  • the control device 17 of the second tractor 1 ⁇ / b> B determines the position determined by the second GNSS positioning device 33. It is acquired as information, that is, the position of the traveling vehicle body 3 (vehicle position). As shown in the middle diagram of FIG. 9, when the deviation between the vehicle body position and the planned traveling line Z1 is less than the threshold value (the vehicle position of the second tractor 1B is within the range between the broken lines Z2 and Z3 in FIG. 9), the control is performed. The device 17 maintains the rotation angle of the rotation shaft of the steering motor 26. As shown in the left diagram of FIG.
  • the control device 17 rotates the rotating shaft of the steering motor 26 so that the steering direction of the second tractor 1B is rightward.
  • the deviation between the vehicle body position and the planned traveling line Z1 is equal to or larger than the threshold
  • the second tractor 1B is located on the right side of the planned traveling line Z1 (the second tractor 1B).
  • the control device 17 rotates the rotation shaft of the steering motor 26 so that the steering direction of the second tractor 1B is to the left.
  • the steering angle of the steering device 11 is changed based on the deviation between the vehicle body position and the planned traveling line Z1, but the azimuth of the planned traveling line Z1 and the azimuth of the traveling direction of the second tractor 1B.
  • the control device 17 may set the steering angle such that the azimuth in the traveling direction of the second tractor 1B matches the azimuth of the planned traveling line Z1.
  • the work implement (tractor) 1 described above performs correction based on the first GNSS positioning device 31 capable of performing positioning based on the first satellite signal transmitted from the GNSS satellite 101 and the second satellite signal transmitted from the QZSS satellite 102.
  • a QZSS positioning device 32 capable of outputting information, a first support bracket 141 to which the first GNSS positioning device 31 is mounted, and a second support bracket 142 to which the QZSS positioning device 32 is mounted and connected to the first support bracket 141
  • the QZSS positioning device 32 can be fixed to the work implement 1 via the first support bracket 141 and the second support bracket 142. Therefore, the QZSS positioning device 32 can be attached to the work machine 1 without separately processing the work machine 1. That is, it is possible to introduce the QZSS positioning device 32 into the work implement 1 at low cost.
  • the work machine 1 includes a fastener 131f for fixing the first support bracket 141, and the first support bracket 141 and the second support bracket 142 are arranged so that at least a part thereof overlaps. The first support bracket 141 and the second support bracket 142 are fastened together.
  • the second support bracket 142 can be connected to the first support bracket 141 by also using the fastener 131 f for fixing the first support bracket 141 to the work machine 1. Therefore, when the QZSS positioning device 32 is fixed to the work implement 1 via the second support bracket 142, the number of components can be reduced. That is, the second support bracket 142 can be fixed to the work machine 1 at low cost.
  • the work machine 1 includes a cabin 9 having a roof 9a, and the first support bracket 141 and the second support bracket 142 are attached to the roof 9a. According to the above configuration, the first GNSS positioning device 31 and the QZSS positioning device 32 are arranged above the work implement 1. Therefore, it is possible to suppress the obstruction of the reception of the satellite signals of the first GNSS positioning device 31 and the QZSS positioning device 32 due to the obstacle.
  • the work implement 1 includes a vehicle-mounted battery 2 and a vehicle-mounted network N.
  • the QZSS positioning device 32 includes a first terminal 134a to which power is supplied from the vehicle-mounted battery 2 and a second terminal 134a connected to the vehicle-mounted network N.
  • a terminal 134b connected to the first GNSS positioning device 31, and connected to a third terminal 134c for supplying power supplied to the first terminal 134a to the first GNSS positioning device 31, and to the first GNSS positioning device 31, and
  • a fourth terminal 134d for connecting the first GNSS positioning device 31 to the in-vehicle network N via the second terminal 134b.
  • the path for supplying power to the first GNSS positioning apparatus 31 and the path for connecting the first GNSS positioning apparatus 31 to the in-vehicle network N can be shared by the QZSS positioning apparatus 32. For this reason, when mounting the QZSS positioning device 32, it is not necessary to add a power supply path and a communication path separately, and it is not necessary to process the work implement 1. In other words, introduction of the QZSS positioning device 32 to the working machine 1 becomes possible at low cost, and even the working machine 1 already having the first GNSS positioning device 31 can easily receive the satellite signal of the QZSS satellite 102. .
  • the GNSS positioning device 31 and the QZSS positioning device 32 have a plurality of connectors 133, and the third terminal 134c and the fourth terminal 134d are connected to the first GNSS positioning device 31 by the plurality of connectors 133. .
  • the arrangement between the third terminal 134c and the fourth terminal 134d and the first GNSS positioning device 31 is simplified, and the connection and disconnection can be easily performed. Thereby, the high-precision positioning function by the QZSS positioning device 32 can be easily introduced and removed.
  • the QZSS positioning device 32 is connected to the first GNSS positioning device 31, and has a fifth terminal 134e that outputs correction information obtained by the second satellite signal.
  • the first GNSS positioning device 31 includes a first position calculation unit 31d that performs positioning based on the observation data of the first satellite signal received by the first GNSS positioning device 31 and the correction information input from the fifth terminal 134e.
  • the correction information received by the QZSS positioning device 32 can be output to the first GNSS positioning device 31 by wired communication. Further, high-precision positioning can be performed by also using the first position calculation unit 31d of the first GNSS positioning device 31. For this reason, conventionally, the working machine 1 equipped with the first GNSS positioning device 31 can also easily perform positioning using the satellite signal of the QZSS satellite 102.
  • the work implement 1 also includes a correction information transmitting unit 32f that transmits correction information obtained by the second satellite signal to the first GNSS positioning device 31, and the first GNSS positioning device 31 receives the correction information. It has a first position calculation unit 31d that performs positioning based on the observation data of the first satellite signal and the correction information transmitted from the correction information transmission unit 32f. According to the above configuration, the correction information received by the QZSS positioning device 32 can be output to the first GNSS positioning device 31 by wireless communication. Further, high-precision positioning can be performed by also using the first position calculation unit 31d of the first GNSS positioning device 31. For this reason, conventionally, the working machine 1 equipped with the first GNSS positioning device 31 can also easily perform positioning using the satellite signal of the QZSS satellite 102.
  • the working machine 1 includes a correction information transmitting unit 32f that transmits correction information obtained by the second satellite signal, and the correction information transmitting unit 32f is provided in the working machine 1 different from the working machine 1, and
  • the correction information generated by the QZSS positioning device 32 is transmitted to the second GNSS positioning device 33 capable of performing positioning based on the first satellite signal transmitted from the GNSS satellite 101, and the second GNSS positioning device 33 transmits the correction information.
  • a second position calculation unit 33d that performs positioning based on the observation data of the first satellite signal received by 33 and the correction information transmitted from the correction information transmission unit 32f is provided.
  • the work implement 1 not equipped with the QZSS positioning device 32 can also receive the correction information. For this reason, the position detection by the QZSS positioning device 32 can be introduced to a plurality of work machines 1 at low cost.
  • [Second embodiment] 12 to 14 show another embodiment (second embodiment) of the work machine 1.
  • FIG. 12 is a left side view showing the entire tractor 1 in the second embodiment.
  • arrow A1 indicates the front
  • arrow A2 indicates the rear.
  • the first GNSS positioning device 31 and the QZSS positioning device 32 are attached to the rope 151.
  • the lops 151 is provided above the traveling vehicle body 3. Specifically, the lops 151 are provided behind the driver's seat 10. As shown in FIGS. 13 and 14, the ropes 151 includes a first vertical column 151a, a second vertical column 151b, and a horizontal frame 151c.
  • FIG. 13 is a rear view showing the first GNSS positioning device 31, the QZSS positioning device 32, the driver's seat 10, and the ropes 151 in the second embodiment.
  • FIG. 14 is a plan view showing the first GNSS positioning device 31, the QZSS positioning device 32, and the ropes 151 in the second embodiment.
  • the first vertical column part 151a, the second vertical column part 151b, and the horizontal part 151c are integrally formed by bending a square pipe.
  • the first vertical column portion 151a extends vertically to the left and rear of the driver's seat 10.
  • the second vertical column 151b extends vertically to the right and behind the driver's seat 10.
  • the horizontal portion 151c extends in the vehicle width direction, and connects the upper end of the first vertical column portion 151a and the upper end of the second vertical column portion 151b above and behind the driver's seat 10.
  • the lops 151 are generally formed in a substantially gate shape when viewed from the front.
  • the ropes 151 can swing rearward about a pivot 152 provided at the lower end of the first vertical column 151a and the lower end of the second vertical column 151b.
  • the first GNSS positioning device 31 and the QZSS positioning device 32 are attached to the horizontal portion 151 c of the ropes 151.
  • the first GNSS positioning device 31 is fixed to a bracket 153, and the bracket 153 is attached to the horizontal portion 151c.
  • the first GNSS positioning device 31 is attached to the bracket 153 with an attachment member such as a bolt.
  • the bracket 153 is attached to the horizontal portion 151c by an attachment member such as a bolt.
  • the QZSS positioning device 32 is disposed to the left of the first GNSS positioning device 31.
  • the QZSS positioning device 32 is attached to an upper portion of the horizontal portion 151c by a fastening member such as a bolt or a screw or an attachment member such as a magnet.
  • a fastening member such as a bolt or a screw or an attachment member such as a magnet.
  • the housing 32a of the QZSS positioning device 32 is a substantially rectangular parallelepiped whose length in the front-rear direction is longer than the length in the width direction and the height direction, unlike the first embodiment. is there.
  • the bottom plate 132a of the housing 32a has a substantially rectangular shape in which the length in the front-rear direction is longer than the length in the width direction.
  • the first GNSS positioning device 31 and the QZSS positioning device 32 each have a plurality of connectors 233. At least one of the connector 233 on the first GNSS positioning device 31 side and the connector 233 on the QZSS positioning device 32 side can be connected to each other.
  • the plurality of connectors 233 of the first GNSS positioning device 31 and the QZSS positioning device 32 will be described.
  • the plurality of connectors 233 include first to fifth connectors.
  • the first GNSS positioning device 31 has a first connector 233a and a second connector 233b.
  • the first connector 233a and the second connector 233b are formed on the left part of the housing 31a. Specifically, the first connector 233a and the second connector 233b protrude leftward from the left surface of the peripheral wall 131b.
  • the first connector 233a has, for example, a sixth terminal 234f and a seventh terminal 234g.
  • the sixth terminal 234f is an input terminal for supplying power to the electronic / electronic device inside the first GNSS positioning device 31.
  • the sixth terminal 234f includes a + terminal and a GND terminal.
  • the seventh terminal 234g is an input / output terminal for connecting the first GNSS positioning device 31 to the control device 17.
  • the second connector 233b has, for example, an eighth terminal 234h.
  • the eighth terminal 234h is an input terminal for inputting information to an electronic / electronic device inside the first GNSS positioning device 31.
  • the QZSS positioning device 32 has a third connector 233c, a fourth connector 233d, and a fifth connector 233e.
  • the third connector 233c is formed on a left portion of the housing 32a. Specifically, the third connector 233c protrudes leftward from the left surface of the peripheral wall 132b.
  • the fourth connector 233d and the fifth connector 233e are formed on the right side of the housing 32a. More specifically, the fourth connector 233d and the fifth connector 233e protrude rightward from the right surface of the peripheral wall 132b.
  • the third connector 233c has a first terminal 234a and a second terminal 234b.
  • the first terminal 234a is an input terminal for supplying power to the electronic / electronic device inside the QZSS positioning device 32.
  • the first terminal 234a includes a + terminal and a GND terminal.
  • the second terminal 234b is an input / output terminal for connecting the QZSS positioning device 32 to the control device 17.
  • the third connector 233c is connected to, for example, a cable 9b routed from the first vertical column 151a of the ropes 151.
  • the cable 9b is connected to the vehicle-mounted battery 2 provided on the tractor 1 and the vehicle-mounted network N.
  • the first terminal 234a is supplied with power from the vehicle-mounted battery 2 (tractor 1).
  • the second terminal 234b is connected to the control device 17 of the tractor 1 via the in-vehicle network N.
  • the fourth connector 233d is connected to the first connector 233a.
  • the fourth connector 233d has a third terminal 234c and a fourth terminal 234d.
  • the third terminal 234c supplies the power supplied from the tractor (working machine) 1 to the first terminal 234a to the terminal connected to the third terminal 234c.
  • the third terminal 234c is connected to the sixth terminal 234f (the first GNSS positioning device 31) by the fourth connector 233d and the first connector 233a.
  • the third terminal 234c supplies power to the first GNSS positioning device 31.
  • Third terminal 234c includes a + terminal and a GND terminal.
  • the third terminal 234c is an output terminal that supplies the power supplied to the first terminal 234a to the sixth terminal 234f.
  • the QZSS positioning device 32 has a branch path 32g.
  • one side of the branch path 32g is connected to the first terminal 234a.
  • the branch path 32g branches in the middle, and is connected to the electronic / electronic equipment inside the QZSS positioning device 32 and the third terminal 234c. That is, the power supplied to the first terminal 234a is supplied to the sixth terminal 234f (the GNSS positioning device 31) via the branch path 32g and the third terminal 234c.
  • the fourth terminal 234d is an input / output terminal for connecting the terminal connected to the fourth terminal 234d and the in-vehicle network N via the second terminal 234b. Specifically, the fourth terminal 234d is connected to the seventh terminal 234g (GNSS positioning device 31) by the fourth connector 233d and the first connector 233a. Thus, the fourth terminal 234d connects the seventh terminal 234g (GNSS positioning device 31) to the in-vehicle network N.
  • the fifth connector 233e is connected to the second connector 233b.
  • the fifth connector 233e has a fifth terminal 234e.
  • the fifth terminal 234e is an output terminal that outputs information from an electronic / electronic device inside the QZSS positioning device 32.
  • the fifth terminal 234e is connected to the eighth terminal 234h (the first GNSS positioning device 31), and the QZSS positioning device 32 outputs correction information to the first GNSS positioning device 31.
  • the QZSS positioning device 32 outputs the correction information to the first GNSS positioning device 31 by wire communication.
  • the QZSS positioning device 32 outputs the correction information to the first GNSS positioning device 31 via the fifth terminal 234e and the eighth terminal 234h, but is a modification of the first embodiment (FIG. 6). ),
  • the QZSS positioning device 32 may be configured to transmit the correction information to the first GNSS positioning device 31 by wireless communication.
  • the above-described working machine (tractor) 1 is provided with a traveling vehicle body 3, a lops 151 provided on the traveling vehicle body 3, and a positioning based on a first satellite signal transmitted from the GNSS satellite 101.
  • a first GNSS positioning device 31 is provided, and a QZSS positioning device 32 provided in the lops 151 and capable of outputting correction information based on a second satellite signal transmitted from the QZSS satellite 102 is provided.
  • the first GNSS positioning device 31 and the QZSS positioning device 32 are arranged above the work implement 1. Therefore, it is possible to suppress the obstruction of the reception of the satellite signals of the first GNSS positioning device 31 and the QZSS positioning device 32 due to the obstacle.
  • the work implement 1 includes a vehicle-mounted battery 2 and a vehicle-mounted network N
  • the QZSS positioning device 32 includes a first terminal 234a supplied with power from the vehicle-mounted battery 2 and a second terminal 234a connected to the vehicle-mounted network N.
  • a terminal 234b connected to the first GNSS positioning device 31, and connected to the third terminal 234c that supplies the power supplied to the first terminal 234a to the first GNSS positioning device 31, and to the first GNSS positioning device 31, and And a fourth terminal 234d for connecting the first GNSS positioning device 31 to the in-vehicle network N via the second terminal 234b.
  • the path for supplying power to the first GNSS positioning apparatus 31 and the path for connecting the first GNSS positioning apparatus 31 to the in-vehicle network N can be shared by the QZSS positioning apparatus 32. For this reason, when mounting the QZSS positioning device 32, it is not necessary to add a power supply path and a communication path separately, and it is not necessary to process the work implement 1. In other words, introduction of the QZSS positioning device 32 to the working machine 1 becomes possible at low cost, and even the working machine 1 already having the first GNSS positioning device 31 can easily receive the satellite signal of the QZSS satellite 102. .
  • the GNSS positioning device 31 and the QZSS positioning device 32 have a plurality of connectors 233, and the third terminal 234c and the fourth terminal 234d are connected to the first GNSS positioning device 31 by the plurality of connectors 233. .
  • the arrangement between the third terminal 234c and the fourth terminal 234d and the first GNSS positioning device 31 is simplified, and the connection and disconnection can be easily performed. Thereby, the high-precision positioning function by the QZSS positioning device 32 can be easily introduced and removed.
  • [Third embodiment] 15A and 15B show another embodiment (third embodiment) of the work machine 1.
  • FIG. 15A is a left side view illustrating the entire tractor 1 according to the third embodiment and a diagram illustrating a configuration thereof.
  • arrow A1 indicates the front
  • arrow A2 indicates the rear.
  • FIG. 15B is a block diagram illustrating the first GNSS positioning device 331 and the QZSS positioning device 32 according to the third embodiment.
  • the first GNSS positioning device 331 in the third embodiment is different from the first GNSS positioning device 31 in the first embodiment and the second embodiment, in that a housing 331a and the housing 331a are provided. And a housing 332a which is another structure.
  • the first GNSS positioning device 331 will be described in detail.
  • the first GNSS positioning device 331 has a receiving unit 31b, a signal processing unit 31c, a first position calculating unit 31d, and an output unit 31f, in addition to the housing 331a and the housing 332a.
  • the housing 331a houses electronic and electronic components and the like. As shown in FIGS. 15A and 15B, the housing 331a is provided outside the cabin 9.
  • the antenna (receiving unit) 31b is housed inside the housing 331a. That is, the receiving unit 31b is provided outside the cabin 9.
  • the housing 331a (the receiving unit 31b) is attached to the upper part of the roof 9a of the cabin 9 via the first support bracket 141.
  • the housing 331a is attached to the first support bracket 141 by a fastening member such as a bolt or a screw.
  • the housing 332a is a different structure from the housing 331a, and houses an electronic / electronic device. As shown in FIGS. 15A and 15B, the housing 332a is provided inside the cabin 9.
  • the signal processing unit 31c, the first position calculation unit 31d, and the output unit 31f are configured by electronic / electronic parts housed in a housing 332a.
  • a structure including the housing 332a and the electronic / electronic device housed in the housing 332a is referred to as a positioning device 332.
  • the positioning device 332 is supplied with power from the vehicle-mounted battery 2.
  • the receiving unit 31b of the housing 331a is connected to an electronic / electronic device housed in the housing 332a by an antenna line 331b.
  • the first satellite signal received by the receiving unit 31b is output to the signal processing unit 31c (the positioning device 332) via the antenna line 331b.
  • the signal processing unit 31c generates observation data by amplifying and demodulating the L1 signal and the L2 signal received by the receiving unit 31b.
  • the first position calculation unit 31d performs positioning based at least on observation data (demodulated L1 signal and L2 signal) output from the signal processing unit 31c. That is, the positioning device 332 performs positioning based on the first satellite signal received by the receiving unit 31b.
  • the positioning device 332 and the QZSS positioning device 32 are connected by wire or wirelessly, and can communicate information with each other. First, a case where the positioning device 332 and the QZSS positioning device 32 are communicably connected by wire will be described. As shown in FIGS. 15A and 15B, the positioning device 332 and the QZSS positioning device 32 are connected by a signal line 331c. The correction information output from the output unit 32e of the QZSS positioning device 32 is input to the positioning device 332 via the signal line 331c.
  • the positioning device 332 to which the correction information has been output from the QZSS positioning device 32 via the signal line 331c performs positioning based on the correction information.
  • the positioning device 332 has an acquisition unit 31e.
  • the acquisition unit 31e is configured by electronic / electronic parts and the like provided on the housing 332a of the positioning device 332.
  • the correction information output by the QZSS positioning device 32 is obtained by the obtaining unit 31e, and the obtained information is output to the first position calculating unit 31d.
  • the first position calculation unit 31d of the positioning device 332 performs three-dimensional calculation based on observation data (demodulated L1 signal and L2 signal) output from the signal processing unit 31c and correction information input from the signal line 331c.
  • the coordinates (x1, y1, z1) are calculated.
  • the first position calculation unit 31d performs the positioning based on the observation data of the first satellite signal received by the reception unit 31b and the correction information input from the QZSS positioning device 32. That is, the first position calculation unit 31d performs precise positioning based on the observation data (second observation data) of the QZSS satellite 102. Thereby, the correction information received by the QZSS positioning device 32 can be output to the positioning device 332 by wired communication.
  • high-precision positioning can be performed by also using the first position calculation unit 31d of the positioning device 332. For this reason, the tractor 1 in which the positioning device 332 is mounted conventionally can easily perform positioning using the satellite signal of the QZSS satellite 102.
  • the first position calculation unit 31d performs, based on the observation data (demodulated L1 signal and L2 signal) output from the signal processing unit 31c. Perform positioning. That is, the first position calculation unit 31d performs the single positioning based on the observation data (first observation data) of the GNSS satellite 101.
  • FIG. 15C is a left side view illustrating the entire tractor 1 and a diagram illustrating a configuration according to a modification of the third embodiment.
  • arrow A1 indicates the front
  • arrow A2 indicates the rear.
  • the positioning device 332 and the QZSS positioning device 32 have communication means capable of wireless communication with each other.
  • the positioning device 332 has an antenna 31g
  • the QZSS positioning device 32 has a correction information transmitting unit (antenna) 32f that can wirelessly communicate with the antenna 31g.
  • the antenna 31g receives the correction information transmitted from the antenna 32f.
  • the acquisition unit 31e acquires the correction information received by the antenna 31g, and outputs the acquired information to the first position calculation unit 31d.
  • the first position calculator 31d performs positioning based on the observation data of the first satellite signal received by the receiver 31b and the correction information transmitted from the correction information transmitter 32f. Thereby, the correction information received by the QZSS positioning device 32 can be output to the positioning device 332 by wireless communication.
  • high-precision positioning can be performed by also using the first position calculation unit 31d of the positioning device 332. For this reason, the tractor 1 in which the positioning device 332 is mounted conventionally can easily perform positioning using the satellite signal of the QZSS satellite 102.
  • the work implement (tractor) 1 described above is provided inside the cabin 9, a receiving unit 31 b provided outside the cabin 9 and capable of receiving the first satellite signal transmitted from the GNSS satellite 101, and the inside of the cabin 9. And a positioning device 332 capable of performing positioning based on the first satellite signal received by the receiving unit 31b, and a second satellite signal provided outside the cabin 9 and transmitted from the QZSS satellite 102.
  • a QZSS positioning device 32 capable of outputting correction information, a first support bracket 141 to which the receiving unit 31b is attached, a second support bracket 142 to which the QZSS positioning device 32 is attached, and which is connected to the first support bracket 141; It has.
  • the QZSS positioning device 32 can be fixed to the work implement 1 via the first support bracket 141 and the second support bracket 142. Therefore, the QZSS positioning device 32 can be attached to the work machine 1 without separately processing the work machine 1. That is, the QZSS positioning device 32 can be attached to the work implement 1 at low cost.
  • the work machine 1 includes a fastener 131f for fixing the first support bracket 141, and the first support bracket 141 and the second support bracket 142 are arranged so that at least a part thereof overlaps. The first support bracket 141 and the second support bracket 142 are fastened together.
  • the second support bracket 142 can be connected to the first support bracket 141 by also using the fastener 131 f for fixing the first support bracket 141 to the work machine 1. Therefore, when fixing the second support bracket 142 to the work machine 1, the number of constituent members can be reduced. That is, the second support bracket 142 can be fixed to the work machine 1 at low cost.
  • the cabin 9 includes a roof 9a constituting an upper portion of the cabin 9, and the first support bracket 141 and the second support bracket 142 are attached to the roof 9a.
  • the receiving unit 31b and the QZSS positioning device 32 are arranged above the work implement 1. For this reason, the obstruction of the reception of the satellite signal of the receiving unit 31b and the QZSS positioning device 32 due to the obstacle can be suppressed.
  • the QZSS positioning device 32 is connected to the positioning device 332, and the positioning device 332 performs positioning based on the observation data of the first satellite signal received by the receiving unit 31b and the correction information input from the QZSS positioning device 32. Is performed.
  • the correction information received by the QZSS positioning device 32 can be output to the positioning device 332 by wired communication.
  • high-precision positioning can be performed by also using the first position calculation unit 31d of the positioning device 332. For this reason, conventionally, the working machine 1 equipped with the positioning device 332 and the receiving unit 31b can also easily perform positioning using the satellite signal of the QZSS satellite 102.
  • the working machine 1 includes a correction information transmitting unit 32f that transmits correction information obtained by the second satellite signal to the positioning device 332, and the positioning device 332 performs observation data of the first satellite signal received by the receiving unit 31b.
  • a first position calculator 31d for performing positioning based on the correction information transmitted from the correction information transmitter 32f.
  • the correction information received by the QZSS positioning device 32 can be output to the positioning device 332 by wireless communication.
  • high-precision positioning can be performed by also using the first position calculation unit 31d of the positioning device 332.
  • the work implement 1 equipped with the positioning device 332 can also easily perform positioning using the satellite signal of the QZSS satellite 102.
  • FIGS. 16A and 16B show another embodiment (fourth embodiment) of the work machine 1.
  • FIG. 16A is a left side view illustrating the entire tractor 1 according to the fourth embodiment and a diagram illustrating a configuration thereof.
  • arrow A1 indicates the front
  • arrow A2 indicates the rear.
  • FIG. 16B is a block diagram illustrating a first GNSS positioning device 331 and a QZSS positioning device 432 according to the fourth embodiment.
  • the QZSS positioning device 432 in the fourth embodiment is different from the QZSS positioning device 32 in the first to third embodiments in that a housing 432a and another housing 432a are provided. And a housing 433a which is a structure. Further, the QZSS positioning device 432 has an antenna (first antenna) 32b, a signal processing unit 32c, and an output unit 32e, in addition to the housing 432a and the housing 433a.
  • the QZSS positioning device 432 will be described in detail.
  • the housing 432a houses electronic and electronic components and the like. As shown in FIGS. 16A and 16B, the housing 432a is provided outside the cabin 9.
  • the antenna (first antenna) 32b is housed inside the housing 432a. That is, the first antenna 32b is provided outside the cabin 9.
  • the housing 432a (antenna 32b) is attached to the upper part of the roof 9a of the cabin 9 via the second support bracket 142.
  • the housing 432a is attached to the second support bracket 142 by a fastening member (not shown) such as a bolt or a screw. Note that the housing 432a only needs to be mounted on the second support bracket 142, and the mounting method is not limited to the above configuration.
  • the housing 433a is a different structure from the housing 331a, and houses electronic / electronic devices. As shown in FIGS. 16A and 16B, the housing 433a is provided inside the cabin 9.
  • the signal processing unit 32c and the output unit 32e are configured by electronic / electronic parts housed in a housing 433a.
  • the structure including the housing 433a and the electronic / electronic device housed in the housing 433a is referred to as an adapter 62.
  • the first antenna 32b of the housing 432a is connected to the adapter 62 by a first antenna line 32b1.
  • the second satellite signal received by the first antenna 32b is output to the signal processing unit 32c (adapter 62) via the first antenna line 32b1.
  • the signal processing unit 32c generates observation data by amplifying and demodulating the L6 signal received by the first antenna 32b.
  • the output unit (correction information output unit) 32e outputs the L6 signal demodulated by the signal processing unit 32c, that is, the correction information obtained from the L6 signal.
  • the positioning device 332 and the adapter 62 are connected by wire or wirelessly, and can communicate information with each other. First, a case where the positioning device 332 and the adapter 62 are communicably connected by wire will be described. As shown in FIGS. 16A and 16B, the positioning device 332 and the adapter 62 are connected by a signal line 432c. The correction information output from the output unit 32e of the adapter 62 is input to the positioning device 332 via the signal line 432c.
  • the positioning device 332 to which the correction information has been output from the adapter 62 via the signal line 432c performs positioning based on the correction information.
  • the positioning device 332 has an acquisition unit 31e.
  • the acquisition unit 31e is configured by electronic / electronic parts and the like provided on the housing 332a of the positioning device 332.
  • the correction information output by the QZSS positioning device 432 is obtained by the obtaining unit 31e, and the obtained information is output to the first position calculating unit 31d.
  • the first position calculation unit 31d of the positioning device 332 performs three-dimensional calculation based on the observation data (demodulated L1 signal and L2 signal) output from the signal processing unit 31c and the correction information input from the signal line 331c.
  • the coordinates (x1, y1, z1) are calculated.
  • the first position calculation unit 31d performs positioning based on the observation data of the first satellite signal received by the reception unit 31b and the correction information input from the adapter 62. That is, the first position calculation unit 31d performs precise positioning based on the observation data (second observation data) of the QZSS satellite 102.
  • the correction information received by the adapter 62 can be output to the positioning device 332 by wired communication.
  • high-precision positioning can be performed by also using the first position calculation unit 31d of the positioning device 332. For this reason, the tractor 1 in which the positioning device 332 is mounted conventionally can easily perform positioning using the satellite signal of the QZSS satellite 102.
  • the first position calculation unit 31d performs positioning based on the observation data (demodulated L1 signal and L2 signal) output from the signal processing unit 31c. Do. That is, the first position calculation unit 31d performs the single positioning based on the observation data (first observation data) of the GNSS satellite 101.
  • FIG. 16C is a left side view illustrating the entire tractor 1 according to a modification of the fourth embodiment and a diagram illustrating a configuration thereof.
  • arrow A1 indicates the front
  • arrow A2 indicates the rear.
  • the positioning device 332 and the adapter 62 have communication means capable of wireless communication with each other.
  • the positioning device 332 has an antenna 31g
  • the adapter 62 has a correction information transmitting unit (antenna, second antenna) 32f capable of wireless communication with the antenna 31g.
  • the antenna 31g receives the correction information transmitted from the second antenna 32f.
  • the acquisition unit 31e acquires the correction information received by the antenna 31g, and outputs the acquired information to the first position calculation unit 31d.
  • the first position calculator 31d performs positioning based on the observation data of the first satellite signal received by the receiver 31b and the correction information transmitted from the correction information transmitter 32f.
  • the correction information received by the QZSS positioning device 432 can be output to the positioning device 332 by wireless communication.
  • high-precision positioning can be performed by also using the first position calculation unit 31d of the positioning device 332. For this reason, the tractor 1 in which the positioning device 332 is mounted conventionally can easily perform positioning using the satellite signal of the QZSS satellite 102.
  • the work implement (tractor) 1 described above is provided inside the cabin 9, a receiving unit 31 b provided outside the cabin 9 and capable of receiving the first satellite signal transmitted from the GNSS satellite 101, and the inside of the cabin 9. And a positioning device 332 that can perform positioning based on the first satellite signal received by the receiving unit 31b, and can be received based on the second satellite signal transmitted from the QZSS satellite 102 and provided outside the cabin 9.
  • a first antenna 32b, an adapter 62 provided in the cabin 9 and capable of outputting correction information based on the second satellite signal received by the first antenna 32b, and a first support bracket 141 to which the receiver 31b is attached.
  • a second support bracket 142 to which the first antenna 32b is attached and which is connected to the first support bracket 141.
  • the first antenna 32b can be fixed to the work implement 1 via the first support bracket 141 and the second support bracket 142. Therefore, the first antenna 32b can be attached to the work machine 1 without separately processing the work machine 1. That is, the antenna 32b can be attached to the work implement 1 at low cost.
  • the adapter 62 is provided inside the cabin 9.
  • the work machine 1 includes a fastener 131f for fixing the first support bracket 141, and the first support bracket 141 and the second support bracket 142 are arranged so that at least a part thereof overlaps. The first support bracket 141 and the second support bracket 142 are fastened together.
  • the second support bracket 142 can be connected to the first support bracket 141 by also using the fastener 131 f for fixing the first support bracket 141 to the work machine 1. Therefore, when fixing the second support bracket 142 to the work machine 1, the number of constituent members can be reduced. That is, the second support bracket 142 can be fixed to the work machine 1 at low cost.
  • the cabin 9 includes a roof 9a constituting an upper portion of the cabin 9, and the first support bracket 141 and the second support bracket 142 are attached to the roof 9a.
  • the receiving unit 31b and the first antenna 32b are arranged above the work implement 1. For this reason, it is possible to suppress the reception of the satellite signal from the reception unit 31b and the first antenna 32b due to the obstacle.
  • the adapter 62 is connected to the positioning device 332, and the positioning device 332 performs positioning based on the observation data of the first satellite signal received by the receiving unit 31b and the correction information input from the adapter 62. It has a position calculation unit 31d. According to the above configuration, the correction information received by the first antenna 32b can be output to the positioning device 332 by wired communication. In addition, high-precision positioning can be performed by also using the first position calculation unit 31d of the positioning device 332. For this reason, conventionally, the working machine 1 equipped with the positioning device 332 and the receiving unit 31b can also easily perform positioning using the satellite signal of the QZSS satellite 102.
  • the working machine 1 includes a correction information transmitting unit 32f that transmits correction information obtained by the second satellite signal to the positioning device 332, and the positioning device 332 performs observation data of the first satellite signal received by the receiving unit 31b.
  • a first position calculator 31d for performing positioning based on the correction information transmitted from the correction information transmitter 32f.
  • the correction information received by the first antenna 32b can be output to the positioning device 332 by wireless communication.
  • high-precision positioning can be performed by also using the first position calculation unit 31d of the positioning device 332. For this reason, conventionally, the work implement 1 equipped with the positioning device 332 can also easily perform positioning using the satellite signal of the QZSS satellite 102.
  • the antenna 32b is referred to as a first antenna 32b
  • the antenna 32f is referred to as a second antenna 32f
  • the antenna 31g is referred to as a third antenna 31g.
  • the antenna 31b is referred to as a fourth antenna 31b.
  • a steering box 84 and a power supply unit 85 are provided inside the cabin in addition to the steering device 11.
  • the control box 84 is provided to the right of the driver's seat 10 from the front to the rear inside the cabin.
  • the control box 84 has a control device for operating a transmission and the like.
  • the steering device is connected to the control device 17 and can perform various controls on the tractor 1.
  • the power supply unit 85 is connected to a vehicle-mounted battery provided in the tractor 1, and can supply power to a device connected to the power supply unit 85.
  • the power supply unit 85 is, for example, a cigar lighter provided on an upper part of the steering device.
  • the power supply unit 85 is not limited to the cigarette lighter as long as it can supply power output from the vehicle-mounted battery to the device connected to the power supply unit 85, and is not limited to a cigarette lighter. Out).
  • the housing 31a of the first GNSS positioning device 31 is attached to the roof 9a via, for example, a fixing bracket (not shown) and a fastener (a bolt, not shown).
  • the fourth antenna 31b is, for example, a relatively small antenna such as a chip antenna.
  • the fourth antenna 31b is mounted on a board housed inside the housing 31a.
  • the first GNSS positioning device 31 includes a signal processing unit 31c, a third antenna 31g, a position calculation unit 31d, an acquisition unit 31e, and an output unit 31f, in addition to the housing 31a and the fourth antenna 31b. I have.
  • the signal processing unit 31c, the position calculation unit 31d, the acquisition unit 31e, and the output unit 31f are configured by electronic / electronic components provided in the first GNSS positioning device 31.
  • the signal processing unit 31c processes the satellite signal received by the fourth antenna 31b. For example, the signal processing unit 31c amplifies and demodulates the L1 signal and the L2 signal received by the fourth antenna 31b, and converts the observation data. Generate.
  • the third antenna 31g receives information transmitted from the outside.
  • the third antenna 31g is a short-range communication device or a communication device that performs wireless communication using a mobile phone communication network, a data communication network, a mobile phone communication network, or the like.
  • the communication method of the third antenna 31g is not limited, and may be, for example, the communication standard IEEE 802.15.1 series, the communication standard IEEE 802.11 series, or another communication method. As shown in FIGS.
  • the third antenna 31g is, for example, a rod antenna and is provided on a side of the housing 31a.
  • the third antenna 31g is provided on the right side of the housing 31a, but the mounting location is not limited to the right side of the housing 31a.
  • the acquisition unit 31e acquires information received by the third antenna 31g, and outputs the acquired information to the position calculation unit 31d.
  • the acquisition unit 31e acquires information transmitted from the QZSS positioning device 32, and outputs the acquired information to the position calculation unit 31d.
  • the tractor 1 includes a first antenna 32b, an adapter 62, and a second antenna 32f in addition to the first GNSS positioning device 31.
  • the first antenna 32b, the adapter 62, and the second antenna 32f are members constituting the QZSS positioning device 32 provided in the tractor 1.
  • the QZSS positioning device 32 receives a satellite signal of a quasi-zenith satellite (QZSS (Quasi-Zenith Satellite System) satellite) 102 such as Michibiki.
  • QZSS quasi-zenith satellite
  • the first antenna 32b receives at least the L6 signal (center frequency 1278.75 MHz) transmitted from the QZSS satellite 102 as the second satellite signal.
  • the L6 signal includes correction information (centimeter-class positioning reinforcement information).
  • the correction information includes satellite clock error information, satellite signal bias error correction value, satellite orbit error information, tropospheric propagation error information, ionospheric propagation error information, and the like.
  • the first antenna 32b may receive the L1 signal and the L2 signal transmitted from the QZSS satellite 102 as the second satellite signal. Further, the first antenna 32b may receive a first satellite signal (L1 signal and L2 signal) transmitted from the GNSS satellite 101 in addition to the second satellite signal. As shown in FIG. 17, the first antenna 32b is connected to the adapter 62 via the first antenna line 32b1. The first antenna 32b outputs the second satellite signal received by the first antenna 32b to the adapter 62.
  • the first antenna 32b is a relatively thin planar antenna (microstrip antenna).
  • the first antenna 32b is, for example, a film antenna. Since the film antenna 32b is thinner than other three-dimensional sensors, the provision of an antenna for receiving the second satellite signal can suppress a loss of beauty. Further, since it is possible to avoid contact with the operator who operates the tractor 1, it is possible to prevent the first antenna 32b from unintentionally dropping off from the mounting location.
  • the film antenna 32b has a film substrate and a film element.
  • the film substrate is a dielectric substrate, and is formed of a flexible resin material.
  • the first antenna 32b has a substantially plate-like shape whose length in the width direction (the width direction of the attachment surface) and the height direction (the height direction of the attachment surface) are longer than the length in the front-rear direction (the attachment direction). May be used.
  • the first antenna 32b may be an antenna having no flexibility, and is not limited to a film antenna.
  • the first antenna 32b receives a satellite signal (second satellite signal) of the quasi-zenith satellite 102.
  • the adapter 62 outputs correction information based on the second satellite information received by the first antenna 32b.
  • the adapter 62 has a housing 32a for housing electronic and electronic components and the like.
  • the housing 32a is arranged inside the cabin 9.
  • the adapter 62 has at least a signal processing unit 32c and an output unit 32e.
  • the signal processing unit 32c and the output unit 32e are configured by electronic / electronic parts and the like provided on the adapter 62.
  • the signal processing unit 32c is a unit that processes the satellite signal output from the first antenna 32b, and generates observation data by, for example, amplifying and demodulating the L6 signal received by the first antenna 32b. .
  • the output unit (correction information output unit) 32e outputs the L6 signal demodulated by the signal processing unit 32c, that is, the correction information obtained from the L6 signal, to the second antenna 32f.
  • the adapter 62 described above transmits correction information to the outside from the second antenna 32f.
  • the adapter 62 includes a position calculation unit, and the position calculation unit performs three-dimensional coordinates (based on the observation data and the correction information). x1, y1, z1), and the second antenna 32f may transmit the calculation result to the outside.
  • the signal processing unit 32c performs amplification and demodulation of the L1, L2, and L6 signals received by the first antenna 32b, and generates observation data.
  • the position calculation unit of the adapter 62 performs positioning based on the observation data (demodulated L1 signal and L2 signal) output from the signal processing unit 31c and the correction information received by the first antenna 32b. That is, the position calculation unit performs precise positioning based on the observation data (second observation data) of the QZSS satellite 102.
  • the adapter 62 is supplied with power from a power supply unit 85 provided inside the cabin.
  • the adapter 62 only needs to be able to operate independently of the first GNSS positioning device 31, and may be provided with a battery for supplying power to the adapter 62 and operated by the battery. Thus, when attaching the adapter 62 to the tractor 1, it is not necessary to take out the power supply for supplying power to the adapter 62.
  • the second antenna 32f transmits the correction information output from the output unit 32e of the adapter 62 to the outside.
  • the second antenna 32f transmits the correction information to the third antenna 31g.
  • the second antenna 32f is connected to the adapter 62 via the second antenna line 32f1.
  • the second antenna 32f transmits the correction information output from the adapter 62 (output unit 32e) to the outside.
  • the second antenna 32f is a short-range communication device or a communication device that performs wireless communication using a mobile phone communication network, a data communication network, a mobile phone communication network, or the like.
  • the communication method of the second antenna 32f is not limited, and may be, for example, the communication standard IEEE 802.15.1 series, the communication standard IEEE 802.11 series, or another communication method.
  • the second antenna 32f is a relatively thin planar antenna (microstrip antenna).
  • the second antenna 32f is, for example, a film antenna. Since the film antenna 32f is thinner than other microstrip antennas, the provision of an antenna for transmitting correction information can suppress a loss of beauty. Further, since it is possible to avoid contact with the operator who operates the tractor 1, it is possible to prevent the second antenna 32f from unintentionally dropping off from the mounting location.
  • the film antenna 32f has a film substrate and a film element.
  • the film substrate is a dielectric substrate, and is formed of a flexible resin material.
  • the second antenna 32f has a substantially plate-like shape whose length in the width direction (the width direction of the bonding surface) and the height direction (the height direction of the bonding surface) are longer than the length in the front-rear direction (the bonding direction). May be used. Further, the second antenna 32f may be an antenna having no flexibility, and is not limited to a film antenna.
  • the third antenna 31g of the first GNSS positioning device 31 receives the correction information from the second antenna 32f of the QZSS positioning device 32.
  • the acquisition unit 31e acquires the correction information received by the third antenna 31g, and outputs the acquired correction information to the position calculation unit 31d.
  • the position calculating unit 31d calculates the three-dimensional coordinates (x1, y1, z1) based on the observation data (demodulated L1 signal and L2 signal) output from the signal processing unit 31c and the correction information. In other words, the position calculation unit 31d performs positioning based on the correction information received by the third antenna 31g. That is, the position calculation unit 31d performs precise positioning based on the observation data (second observation data) of the QZSS satellite 102.
  • the third antenna 31g arranges a signal line for transmitting and receiving the correction information between the second antenna 32f and the third antenna 31g in order to receive the correction information from the second antenna 32f of the QZSS positioning device 32 by wireless communication. It is not necessary to form holes or notches in the cabin 9.
  • the position calculation unit 31d performs positioning based on observation data (demodulated L1 signal and L2 signal) output from the signal processing unit 31c. I do. That is, the position calculation unit 31d performs the single positioning based on the observation data (first observation data) of the GNSS satellite 101.
  • the output unit 31f outputs the result calculated by the position calculation unit 31d to at least one of the control device 17 and the communication device 18.
  • the signal processing unit 32c of the QZSS positioning apparatus 32 generates observation data by amplifying and demodulating the L6 signal, but does not perform demodulation by the signal processing unit 32c (the second antenna). 32f transmits the correction information before demodulation), the signal processing unit 31c of the first GNSS positioning apparatus 31 demodulates the L6 signal.
  • the positioning device described above is provided in the cabin 9 of the tractor 1, as shown in FIGS.
  • the first antenna 32b and the second antenna 32f are arranged inside the cabin 9 and attached to a panel of the cabin 9.
  • the first antenna 32b, the adapter 62, and the second antenna 32f are arranged inside the cabin 9 and attached to a panel of the cabin 9.
  • the first antenna 32b and the second antenna 32f are attached to the same panel, and are attached in parallel in the width direction of the cabin 9. Specifically, the first antenna 32b and the second antenna 32f are attached to the same surface of the same member that forms the panel. For example, when the first antenna 32b is attached to the front panel 75, the second antenna 32f is also attached to the front panel 75. In addition, the first antenna 32b and the second antenna 32f are arranged side by side in the width direction, and the vertical direction of the first antenna 32b and the vertical direction of the second antenna 32f partially overlap (overlap). And are in parallel. This makes it possible to make the signal receiving conditions of the first antenna 32b and the second antenna 32f more approximate.
  • the first antenna 32b and the second antenna 32f are attached to the front panel 75 or the rear panel 76.
  • the mounting direction of the first antenna 32b and the second antenna 32f matches the traveling direction of the tractor 1.
  • the first antenna 32b and the second antenna 32f can receive the wraparound signal, and can secure the receivable range of the first satellite signal and the second satellite signal.
  • the first antenna 32b and the second antenna 32f are arranged on the upper part of the panel.
  • first antenna 32b and the second antenna 32f arranged on the panel from obstructing the field of view of the operator sitting on the driver's seat 10.
  • first antenna 32b and the second antenna 32f above the tractor 1, it is possible to suppress obstruction of reception of satellite signals due to obstacles.
  • the first antenna 32b and the second antenna 32f are attached to the front panel 75
  • the first antenna 32b is disposed below the upper connection frame 74a.
  • the first antenna 32b is disposed between the first front support 711 and the second front support 712.
  • the first antenna 32b is disposed on one side (left side) in the width direction of the front panel 75.
  • the first antenna 32b is detachably attached to the front panel 75 with an adhesive or a double-sided tape.
  • the second antenna 32f is disposed below the upper connection frame 74a.
  • the second antenna 32f is arranged between the first front support 711 and the second front support 712.
  • the second antenna 32f is arranged on the other side (right side) in the width direction of the front panel 75. That is, the first antenna 32b and the second antenna 32f are arranged above the front panel 75 so as to be separated from each other in the width direction of the cabin 9.
  • the first antenna 32b and the second antenna 32f are arranged apart from each other in the width direction of the cabin 9, but may be arranged adjacent to each other.
  • the second antenna 32f is detachably attached to the front panel 75 with an adhesive or a double-sided tape.
  • the first antenna 32b is arranged on one side (left side) in the width direction
  • the second antenna 32f is arranged on the other side (right side) in the width direction.
  • the second antenna 32f may be arranged on the other side (left side) in the width direction
  • the second antenna 32f may be arranged on one side (left side) in the width direction.
  • the adapter 62 is detachably attached to the front panel 75. As shown in FIGS. 3 and 5, the adapter 62 is disposed, for example, above the steering device 11. The adapter 62 is attached to the front panel 75 by a sucker member 86 provided in the tractor (working machine) 1. The adapter 62 may be detachably attached to the front panel 75 with an adhesive or a double-sided tape, and the method of attaching the adapter 62 is not limited to this. The adapter 62 may be disposed inside the cabin and at a position that does not impede the field of view of the operator sitting in the driver's seat 10. The adapter 62 may be attached to the upper part of the steering device 11, It may be attached to the upper end of the panel 75 or is not limited to this.
  • the first antenna 32b and the second antenna 32f are attached to the front panel 75 by an adhesive or a double-sided tape, but are attached to the front panel 75 by a suction cup member as in the case of the adapter 62.
  • the tractor 1 includes the suction cup member 86 for attaching at least one of the first antenna 32b, the second antenna 32f, and the adapter 62 to the panel.
  • the first antenna 32b, the second antenna 32f, and the adapter 62 can be detachably attached to the panel at lower cost.
  • the first antenna 32b, the second antenna 32f, and the adapter 62 since no glue or adhesive is attached to the panel, high-precision position detection using the second satellite signal transmitted from the QZSS satellite 102 is performed. Functions can be easily introduced or removed.
  • one side of the first antenna line 32b1 extends outward in the width direction from the first antenna 32b. More specifically, one side of the first antenna line 32b1 extends from the first antenna 32b to the first front column 711, and is routed downward along the first front column 711. The other side of the first antenna line 32b1 is bent inward in the width direction. Specifically, the other side of the first antenna line 32b1 extends toward the adapter 62.
  • one side of the second antenna line 32f1 extends outward in the width direction from the second antenna 32f. Specifically, one side of the second antenna line 32f1 extends from the second antenna 32f to the second front support 712 side, and is routed downward along the second front support 712. The other side of the second antenna line 32f1 is bent inward in the width direction. Specifically, the other side of the second antenna line 32f1 extends toward the adapter 62. Note that the first antenna line 32b1 and the second antenna line 32f1 are not limited to the above-described arrangement as long as the visibility of the operator seated on the driver's seat 10 is not obstructed.
  • one side of the first antenna line 32b1 is connected to the upper connection frame by the first antenna 32b. It is arranged to extend to the side.
  • An intermediate portion of the first antenna line 32b1 is arranged so as to extend toward the first front support 711, and is arranged downward along the first front support 711.
  • the other side of the first antenna line 32b1 is bent inward in the width direction.
  • the other side of the first antenna line 32b1 is routed toward the adapter 62.
  • one side of the second antenna line 32f1 extends from the second antenna 32f to the upper connecting frame side. Be considered.
  • the middle part of the second antenna line 32f1 is arranged so as to extend toward the second front support 712, and is arranged downward along the second front support 712.
  • the other side of the second antenna line 32f1 is bent inward in the width direction.
  • the other side of the second antenna line 32f1 is routed toward the adapter 62.
  • the second antenna 32f is attached to the front panel 75 or the rear panel 76.
  • the second antenna 32f may be attached to a side panel other than the front panel 75 and the rear panel 76 of the cabin 9.
  • the side panels are a door panel (left panel) 77 located on the left side of the cabin 9 and a right panel 79 located on the right side.
  • the second antenna 32f includes a front panel 75 and a rear panel 76. , A door panel (left panel) 77 and a right panel 79.
  • the left panel is the openable and closable door panel 77, but the left panel need not be the openable and closable door panel 77.
  • the right panel 79 may be a door panel that can be opened and closed.
  • the side panel is not limited as long as it is a panel located on the side (left side, right side) of the cabin 9.
  • the work implement (tractor) 1 described above is disposed inside the cabin 9 having a panel, a first GNSS positioning device 31 capable of performing positioning based on a first satellite signal transmitted from the GNSS satellite 101, and a cabin 9; A first antenna 32b attached to the panel and receiving a second satellite signal transmitted from the QZSS satellite 102; and a second antenna signal disposed inside the cabin 9 and received by the first antenna 32b.
  • An adapter 62 that outputs correction information through the adapter 62, and a second antenna 32f that is disposed inside the cabin 9 and attached to a panel, and that transmits the correction information output from the adapter 62 to the outside.
  • the satellite signal of the QZSS satellite 102 can be received by the first antenna 32b.
  • the first antenna 32b, the adapter 62, and the second antenna 32f are arranged inside the cabin 9, wind and rain are blocked, and the waterproofness of the first antenna 32b, the adapter 62, and the second antenna 32f is improved. Can be. Accordingly, it is possible to suppress a failure caused by the flooding and deterioration of the first antenna 32b, the adapter 62, and the second antenna 32f.
  • the first GNSS positioning device 31 is provided on the roof 9a of the cabin 9 and performs positioning based on a third antenna 31g capable of receiving correction information from the second antenna 32f and correction information received by the third antenna 31g. And a position calculation unit 31d.
  • a position calculation unit 31d it is not necessary to form holes or notches for arranging signal lines in the cabin 9 for transmitting and receiving correction information between the second antenna 32f and the third antenna 31g. This makes it possible to easily introduce a high-accuracy position detection function based on the second satellite signal transmitted from the QZSS satellite 102 into the conventional work machine 1 having the first GNSS positioning device 31 in advance.
  • the second antenna 32f transmits correction information to a second GNSS positioning device 33 that is provided in another work implement 1 and that can perform positioning based on a first satellite signal transmitted from the GNSS satellite 101.
  • work implement 1 not equipped with first antenna 32b for receiving the second satellite signal transmitted from QZSS satellite 102 can also receive the correction information. For this reason, a highly accurate position detection function can be introduced to the plurality of work machines 1 at low cost.
  • first antenna 32b and the second antenna 32f are mounted on the same panel. According to the above configuration, the signal receiving conditions of the first antenna 32b and the second antenna 32f can be approximated. Thereby, it is possible to reduce errors in information included in satellite signals received by the first antenna 32b and the second antenna 32f.
  • the first antenna 32b and the second antenna 32f are attached in parallel in the width direction of the cabin 9. According to the above configuration, it is possible to make the signal receiving conditions of the first antenna 32b and the second antenna 32f more consistent. As a result, it is possible to further reduce errors in information included in satellite signals received by the first antenna 32b and the second antenna 32f.
  • the panel is a front panel 75 arranged at the front of the cabin 9 or a rear panel 76 arranged at the rear of the cabin 9.
  • the mounting direction of the first antenna 32b and the second antenna 32f coincides with the traveling direction of the work implement 1.
  • the first antenna 32b and the second antenna 32f can receive the wraparound signal, and can secure the receivable range of the first satellite signal and the second satellite signal.
  • the panel includes a front panel 75 arranged at the front of the cabin 9, a rear panel 76 arranged at the rear 9 of the cabin, and side panels 77 and 79 provided at the sides of the cabin 9; , Front panel 75, rear panel 76, and side panels 77, 79.
  • the second antenna 32f is mounted on each side of the cabin 9 of the first tractor 1A, and the second tractor 1B can receive the correction information from any direction with respect to the first tractor 1A. In other words, the correction information can be transmitted to the second tractor 1B in all directions without the first tractor 1A itself becoming an obstacle.
  • first antenna 32b and the second antenna 32f are arranged on the upper part of the panel. According to the above configuration, it is possible to prevent the first antenna 32b and the second antenna 32f arranged on the panel from obstructing the field of view of the operator sitting on the driver's seat 10. In addition, since the first antenna 32b and the second antenna 32f are arranged above the work implement 1, it is possible to suppress obstruction of reception of satellite signals by an obstacle.
  • the adapter 62 is supplied with power from a power supply 85 provided inside the cabin 9. According to the above configuration, when attaching the adapter 62 to the work machine 1, it is not necessary to take out the power supply for supplying power to the adapter 62. Therefore, a highly accurate position detection function using the second satellite signal transmitted from the QZSS satellite 102 can be easily introduced.
  • the first antenna 32b and the second antenna 32f are plate-like microstrip antennas. According to the above configuration, since the plate-shaped microstrip antenna is thin, it is possible to avoid the operator operating the work implement 1 from contacting the first antenna 32b and the second antenna 32f. Therefore, it is possible to prevent the first antenna 32b and the second antenna 32f from unintentionally falling off the panel.
  • the first antenna 32b and the second antenna 32f are film antennas. According to the above configuration, since the film antenna is thinner than the other microstrip antennas, it is possible to suppress a loss of beauty by providing an antenna for receiving the second satellite signal and transmitting correction information. it can. Further, since it is possible to avoid contact with the operator who operates the work implement 1, it is possible to prevent the first antenna 32b and the second antenna 32f from unintentionally falling off the panel.
  • the adapter 62 is provided on the panel. According to the above configuration, the arrangement of the first antenna 32b, the second antenna 32f, and the adapter 62 is simplified. As a result, it is possible to easily reduce the manufacturing cost in introducing a highly accurate position detection function using the second satellite signal transmitted from the QZSS satellite 102.
  • the work implement 1 also includes a suction cup member 86 for attaching at least one of the first antenna 32b, the second antenna 32f, and the adapter 62 to a panel.
  • the first antenna 32b, the second antenna 32f, and the adapter 62 can be easily mounted. Can be. Therefore, the first antenna 32b, the second antenna 32f, and the adapter 62 can be detachably attached to the panel at lower cost.
  • the first antenna 32b, the second antenna 32f, and the adapter 62 since no glue or adhesive is attached to the panel, high-precision position detection using the second satellite signal transmitted from the QZSS satellite 102 is performed. Functions can be easily introduced or removed.
  • FIG. 21 shows a positioning system for a working machine according to the sixth embodiment. As shown in FIG. 21, this system is capable of transmitting a satellite signal of a quasi-zenith satellite (QZSS (Quasi-Zenith Satellite System) satellite) 102 to at least one or more working machines.
  • QZSS Quadrature-Zenith Satellite System
  • the tractor 1 includes a steering device 11.
  • the steering device 11 includes a steering wheel (steering wheel) 11a, a steering shaft (rotating shaft) 11b that rotates with the rotation of the steering wheel 11a, and an assist mechanism (power steering mechanism) 11c that assists steering of the steering wheel 11a. are doing.
  • the auxiliary mechanism 11c includes a hydraulic pump 21, a control valve 22 to which hydraulic oil discharged from the hydraulic pump 21 is supplied, and a steering cylinder 23 operated by the control valve 22.
  • the control valve 22 is an electromagnetic valve that operates based on a control signal.
  • the control valve 22 is, for example, a three-position switching valve that can be switched by moving a spool or the like.
  • the control valve 22 can also be switched by steering the steering shaft 11b.
  • the steering cylinder 23 is connected to an arm (knuckle arm) 24 that changes the direction of the front wheel 7F.
  • the switching position and the opening degree of the control valve 22 are switched according to the steering wheel 11a, and the steering cylinder 23 is moved left or right according to the switching position and the opening degree of the control valve 22.
  • the steering direction of the front wheel 7F can be changed. That is, the tractor 1 (the traveling vehicle body 3) can be manually steered by the steering mechanism 11.
  • the steering of the tractor 1 can be performed automatically.
  • the steering device 11 has an automatic steering mechanism 25.
  • the automatic steering mechanism 25 is a mechanism that performs automatic steering of the traveling vehicle body 3 and automatically steers the traveling vehicle body 3 based on the position of the traveling vehicle body 3 (vehicle position) and a preset traveling line.
  • the automatic steering mechanism 25 includes a steering motor 26 and a gear mechanism 27.
  • the steering motor 26 is a motor whose rotation direction, rotation speed, rotation angle, and the like can be controlled based on the current position.
  • the gear mechanism 27 includes a gear provided on the steering shaft 11b and rotating with the steering shaft 11b, and a gear provided on the rotating shaft of the steering motor 26 and rotating with the rotating shaft.
  • the steering shaft 11b automatically rotates (rotates) via the gear mechanism 27, and changes the steering direction of the front wheels 7F so that the vehicle body position coincides with the planned traveling line. can do.
  • the above-described steering mechanism 11 is an example, and is not limited to the above-described configuration.
  • the tractor 1 includes a control device 517 and a communication device 518.
  • the control device 517 is based on an operation signal when operating an operation tool (operation lever, operation switch, operation volume, etc.) installed around the driver's seat, detection signals of various sensors mounted on the traveling vehicle body 3, and the like.
  • an operation tool operation lever, operation switch, operation volume, etc.
  • the control device 517 performs control to raise and lower the working device 2 based on an operation (operation signal) of the operating tool, and controls the rotation speed of the prime mover 4 based on an accelerator pedal sensor.
  • the control device 517 may be any device that controls the working system and traveling system of the tractor, and the control method is not limited.
  • the communication device 518 is a short-distance communication device or a communication device that performs wireless communication using a mobile phone communication network, a data communication network, a mobile phone communication network, or the like, and outputs at least information on the tractor 1 to the outside.
  • the communication method of the communication device 518 is not limited, and may be, for example, the communication standard IEEE 802.15.1 series, the communication standard IEEE 802.11 series, or another communication method.
  • FIG. 21 shows a block diagram of a positioning system of the working machine.
  • the positioning system of the work implement includes a first GNSS positioning device 531 and a QZSS positioning device 532.
  • the first GNSS positioning device 531 performs positioning based on a satellite signal of the GNSS satellite 101 such as a GPS (Global Positioning System).
  • the QZSS positioning device 532 performs positioning based on a satellite signal of a quasi-zenith satellite (QZSS (Quasi-Zenith Satellite System) satellite) 102 such as Michibiki.
  • QZSS Quadrati-Zenith Satellite System
  • the first GNSS positioning device 531 and the QZSS positioning device 532 are provided in the tractor 1A.
  • the tractor 1A transmits at least information on the positioning in the QZSS positioning device 532 to another tractor 1B.
  • first tractor 1A the tractor 1A provided with the first GNSS positioning device 531 and the QZSS positioning device 532
  • second tractor 1B the tractor 1B
  • the first tractor 1A and the second tractor 1B include a traveling vehicle (traveling vehicle body) 3, a motor 4, a transmission 5, a traveling device 7, a steering device 11, an automatic steering mechanism 25, a control device 517, and a communication device 518.
  • the basic configuration is the same for both the first tractor 1A and the second tractor 1B.
  • the first GNSS positioning device 531 and the QZSS positioning device 532 are connected to a control device 517 and a communication device 518 provided in the first tractor 1A.
  • the first GNSS positioning device 531 and the QZSS positioning device 532 output at least information on positioning to the control device 517 and the communication device 518.
  • the first GNSS positioning device 531 has a housing 531a that houses electronic and electronic components and the like, and an antenna 531b that receives a satellite signal (first satellite signal) of the GNSS satellite 101.
  • the housing 531a is attached to the roof 9a of the cabin 9 of the first tractor 1A.
  • the antenna 531b receives the L1 signal (center frequency 1575.42 MHz) and the L2 signal (center frequency 1227.60 MHz) transmitted from the GNSS satellite 101 as the first satellite signal.
  • the L1 signal includes a navigation message, a C / A code, and an L1 carrier
  • the L2 signal includes at least an L2 carrier.
  • the first GNSS positioning device 531 includes a signal processing unit 531c, a position calculation unit 531d, an acquisition unit 531e, and an output unit 531f, in addition to the housing 531a and the antenna 531b.
  • the signal processing unit 531c, the position calculation unit 531d, and the acquisition unit 531e are configured by electronic / electronic parts provided in the first GNSS positioning device 531.
  • the signal processing unit 31 is a part that processes satellite signals received by the antenna 531b, and generates observation data by, for example, amplifying and demodulating the L1 and L2 signals received by the antenna 531b.
  • the position calculation unit 531d performs positioning based on observation data (demodulated L1 signal and L2 signal) output from the signal processing unit 531c. That is, the position calculation unit 531d performs single positioning based on the observation data (first observation data) of the GNSS satellite 101.
  • the acquisition unit 531e acquires information transmitted from the QZSS positioning device 532, and outputs the acquired information to the position calculation unit 531d.
  • the output unit 531f outputs the result (first positioning result) calculated by the position calculation unit 531d to at least one of the control device 517 and the communication device 518.
  • the QZSS positioning device 532 includes a housing 532a that houses electronic and electronic components and the like, and an antenna 532b that receives a satellite signal (second satellite signal) of the quasi-zenith satellite 102.
  • the housing 532a is attached to the roof 9a of the cabin 9 of the first tractor 1A along with the housing 531a.
  • the antenna 532b receives, as the second satellite signal, at least the L6 signal (center frequency 1278.75 MHz) transmitted from the QZSS satellite 102.
  • the L6 signal includes correction information (centimeter-class positioning reinforcement information).
  • the correction information includes satellite clock error information, satellite signal bias error correction value, satellite orbit error information, tropospheric propagation error information, ionospheric propagation error information, and the like.
  • the antenna 532b may receive the L1 signal and the L2 signal transmitted from the QZSS satellite 102 as the second satellite signal.
  • the antenna 532b may receive the first satellite signals (L1 signal and L2 signal) transmitted from the GNSS satellite 101 in addition to the second satellite signal.
  • the QZSS positioning device 532 includes a signal processing unit 532c, a position calculation unit 532d, and an output unit 532e, in addition to the housing 532a and the first antenna 532b.
  • the signal processing unit 532c, the position calculation unit 532d, and the output unit 532e are configured by electronic / electronic parts provided in the QZSS positioning device 532.
  • the signal processing unit 532c is a unit that processes satellite signals received by the antenna 532b, and generates observation data by, for example, amplifying and demodulating the L1, L2, and L6 signals received by the antenna 532b. I do.
  • the L1 signal and the L2 signal received by the antenna 532b may be the first satellite signal of the GNSS satellite 101 or the second satellite signal of the QZSS satellite 102.
  • the position calculation unit 532d calculates a position (second position), that is, three-dimensional coordinates (x2, y2, z2) is calculated. That is, the position calculation unit 532d performs precise positioning based on the observation data (second observation data) of the QZSS satellite 102.
  • the output unit (correction information output unit) 532e outputs to the communication device 518 the L6 signal demodulated by the signal processing unit 532c, that is, the correction information obtained from the L6 signal.
  • the first GNSS positioning device 531 (the position calculation unit 531d) can perform independent positioning by using the satellite signals (L1 signal and L2 signal) received by the antenna 531b, but the satellite signal (L6) received by the antenna 532b
  • the positioning may be performed using the correction information of the signal (the correction information output by the correction information output unit 532e).
  • the position calculation unit 531d of the first GNSS positioning device 531 determines the acquired correction information (satellite clock error information, satellite signal bias error information, satellite orbit error).
  • the physical position (latitude, longitude, height) of the 1GNSS positioning device 531 is obtained.
  • the output unit 531f outputs the obtained position (positioning result) to the control device 517.
  • the first tractor 1A includes a first correction information transmitting unit that transmits the correction information obtained by the QZSS positioning device 532 to another tractor, that is, the second tractor 1B.
  • the antenna 532b of the QZSS positioning device 532 receives the second satellite signal including the L6 signal, and corrects the correction information obtained by demodulating the received second satellite signal by the signal processing unit 532c to the second tractor 1B.
  • the first correction information transmitting unit is the communication device 518 provided in the first tractor 1A.
  • FIG. 23A shows a flow of a positioning process in the first tractor 1A and a transmission process of transmitting correction information to the second tractor 1B.
  • FIG. 23A is an example, and there is no limitation.
  • the first tractor 1A when the antenna 531b of the first GNSS positioning device 531 receives the first satellite signal (S1), the first satellite signal is amplified and demodulated by the signal processing unit 532c (S1). S2).
  • the antenna 532b of the QZSS positioning device 532 receives the second satellite signal (S3), the second satellite signal is amplified and demodulated by the signal processing unit 531c (S4).
  • the position calculation unit 532d S5
  • the correction information of at least the second satellite signal is used.
  • the correction information is output from the output unit 532e of the QZSS positioning device 532 to the communication device 518 of the first tractor 1A. Then, when the communication device 518 of the first tractor 1A acquires the correction information (S7), the communication device 518 transmits the acquired correction information to the communication device 518 of the second tractor 1B (S8).
  • the communication connection processing such as pairing between the communication devices 518 between the first tractor 1A and the second tractor 1B may be performed in advance. preferable.
  • the second tractor 1B can acquire the correction information acquired by the QZSS positioning device 532 from the first tractor 1A.
  • the second tractor 1B includes a second GNSS positioning device 533 capable of performing positioning based on the first satellite signal.
  • the second GNSS positioning device 533 has a housing 533a, an antenna 533b, a signal processing unit 533c, a position calculation unit 533d, and a correction information receiving unit.
  • the housing 533a is attached to the roof 9a of the cabin 9 of the second tractor 1B.
  • the antenna 533b receives the first satellite signal similarly to the antenna 531b.
  • the correction information receiving unit is a device that receives the correction information transmitted from the first tractor 1A.
  • the correction information receiving unit is shared with the communication device 518 provided in the second tractor 1B. Note that the correction information receiving unit and the communication device 518 may be configured separately.
  • the signal processing unit 533c and the position calculation unit 533d are configured by electronic and electronic components provided in the second GNSS positioning device 533.
  • the signal processing unit 533c is a unit that processes a satellite signal received by the antenna 533b, and generates observation data by, for example, amplifying and demodulating the L1 signal and the L2 signal received by the antenna 533b.
  • the position calculation unit 533d includes the observation data (demodulated L1 signal and L2 signal) output from the signal processing unit 533c and the correction information acquired by the communication device (correction information receiving unit) 18 of the second tractor 1B, that is, The positioning is performed based on the correction information transmitted from the first tractor 1A.
  • the position calculation unit 533d transmits the received correction information and the first L1 signal and the L2 signal (the navigation message, the C / A code, the L1 carrier, etc.) received by the antenna 533b.
  • the physical position (latitude, longitude, height) of the second GNSS positioning device 533 is obtained using the observation information.
  • the second GNSS positioning device 533 of the second tractor 1B can perform positioning of the second tractor 1B using the correction information transmitted from the first tractor 1A. That is, even when the second tractor 1B cannot receive the correction information from the quasi-zenith satellite 102, high-accuracy positioning of the second tractor 1B is performed using the correction information transmitted from the first tractor 1A. be able to.
  • FIG. 23B is an operation flow in which a request for the second tractor 1B is added to FIG. 23A.
  • FIG. 23B is an example and is not limited.
  • S1 to S6 are the same as in FIG. 23A.
  • the second tractor 1B when an operation member such as a lever and a switch provided on the second tractor 1B is operated and the positioning of the second tractor 1B becomes necessary (S10, Yes). Then, a request for correction information is transmitted from the communication device 518 of the second tractor 1B to the communication device 518 of the first tractor 1A (S11). Upon receiving the request for the correction information (S12), the communication device 518 of the first tractor 1A transmits the correction information output from the output unit 532e to the communication device 518 of the first tractor 1A to the communication device 518 of the second tractor 1B. It is transmitted (S13).
  • the correction information obtained from the first tractor 1A can be obtained from the first tractor 1A at the time when the second tractor 1B becomes in a situation requiring the positioning, and the second tractor 1B can obtain the correction information Positioning can be performed using the information.
  • the second tractor 1B having the second GNSS positioning device 533 performs positioning by the second GNSS positioning device 533 using the correction information transmitted from the first tractor 1A having the QZSS positioning device 532.
  • the second tractor 1B may transmit the correction information received from the first tractor 1A to another third tractor 1C having the second GNSS positioning device 533. That is, the second tractor 1B includes a second correction information transmitting unit.
  • the second correction information transmitting unit is the communication device 518 provided in the second tractor 1B. After receiving the correction signal from the first tractor 1A, the second correction information transmitting unit (communication device 518) transmits the received correction signal to the communication device 518 of the third tractor 1C.
  • the second GNSS positioning device 533 of the third tractor 1C performs positioning similarly to the second tractor 1B using the correction signal.
  • the correction information is requested to the first tractor 1A in response to the operation of the operation member of the second tractor 1B.
  • the first tractor 1A is controlled based on a predetermined work plan.
  • the correction information may be transmitted to the second tractor 1B.
  • the communication device 518 of the first tractor 1A connects to the portable terminal (smartphone, tablet) 700 or the management server 701 before or during the work of the agricultural work in the first tractor 1A.
  • the mobile terminal 700 or the management server 701 transmits a preset work plan to the communication device 518 of the first tractor 1A.
  • the work plan includes a self-work plan performed by the tractor 1A itself and a work plan performed by another person other than the tractor 1B.
  • Both the self-work plan and the work plan for other people include workplaces such as the field where work is performed, work time such as date and time, work contents such as tilling, wiping, harvesting, reaping, weeding, chemical spraying, fertilizing, etc., and machine information.
  • the machine information includes at least identification information for identifying the tractor.
  • the control device 517 of the first tractor 1A acquires the self-work plan and the other-person work plan via the communication device 518
  • the control device 517 refers to the self-work plan and the other-person work plan, and near the work place indicated by the self-work plan.
  • it is determined whether or not there is a second tractor (referred to as a nearby tractor) 1B that performs work at substantially the same work time.
  • the control device 517 determines whether or not there is a nearby tractor having a radius of about 5 km around a work site where the work of the first tractor 1A is performed.
  • the control device 517 of the first tractor 1A issues a connection request to the communication device 518 of the neighboring tractor 1B, and the communication device 518 of the first tractor 1A and the communication device 518 of the neighboring tractor 1B communicate with each other. Perform pairing.
  • the communication device 518 of the first tractor 1A is in operation, for example, traveling, while driving the work device 2,
  • the correction information is transmitted to the neighboring tractor 1B during driving of the prime mover 4 or the like. In this way, the first tractor 1A can transmit the correction information when the second tractor 1B exists within the range of the predetermined distance.
  • the control device 517 of the first tractor 1A determines a nearby tractor. However, the control device 517 of the second tractor 1B closes the workplace indicated by the self-work plan and It is determined whether or not there is a first tractor (referred to as a neighboring tractor) 1A that performs work at substantially the same working time. If the neighboring tractor 1A exists, a request for transmission of correction information is sent to the neighboring tractor 1A. May go.
  • a first tractor referred to as a neighboring tractor
  • FIG. 24 shows the relationship between the position (vehicle position) Z100 of the tractor 1 and the planned traveling line Z2 in automatic steering.
  • the automatic steering will be described using the second tractor 1B as an example.
  • the planned traveling line Z2 is set in advance by a personal computer or a portable terminal (smartphone, tablet), and is transferred to the control device 517 or the like by wireless communication, wired communication, or a storage medium.
  • a display device 551 of a touch panel type or the like may be provided on the tractor 1 so that the travel planned line Z2 can be input to the display device 551.
  • the travel schedule line Z2 is associated with latitude and longitude at the time of setting.
  • control device 517 determines the position obtained by the second GNSS positioning device 533 as the position of the traveling vehicle body 3 (the vehicle body 3). Position) acquired as Z100. As shown in FIG. 24, when deviation (position deviation) ⁇ L1 between vehicle body position Z100 and planned traveling line Z102 is smaller than the threshold value, control device 517 maintains the rotation angle of the rotation shaft of steering motor 26.
  • the control device 517 determines that the steering direction of the tractor 1B is The rotation shaft of the steering motor 26 is rotated to the right.
  • the control device 517 determines that the steering direction of the tractor 1B is The rotation shaft of the steering motor 26 is rotated to the left.
  • the steering angle of the steering device 11 is changed based on the positional deviation ⁇ L1 between the vehicle body position Z101 and the planned traveling line Z102.
  • the azimuth (line direction) F2 of the planned traveling line Z102 and the tractor 1B When the azimuth (vehicle direction) F1 of the traveling direction is different, the control device 517 may set the steering angle such that the vehicle direction F1 of the tractor 1B matches the line direction F2 of the planned traveling line Z102. In this case, the control device 517 obtains the azimuth difference ⁇ F between the vehicle body azimuth F1 and the line azimuth F2, and changes the steering angle of the steering device 11 so that the azimuth difference ⁇ F becomes zero.
  • the setting of the steering angle in the automatic steering in the above-described embodiment is an example, and is not limited.
  • the work system positioning system includes a first GNSS positioning device 531 provided in the first work machine (first tractor 1A) and capable of performing positioning based on a first satellite signal transmitted from the GNSS satellite 101; And a QZSS positioning device 532 provided on the first work machine (first tractor 1A) and capable of performing positioning based on the second satellite signal transmitted from the QZSS satellite.
  • a first correction information transmitting unit (communication device 518) that transmits correction information obtained by the two satellite signals to a second work machine (second tractor 1B) different from the first work machine (first tractor 1A). Have.
  • the first work machine (the first tractor 1A) includes not only the first GNSS positioning device 531 but also the QZSS positioning device 532 and the first correction information transmitting unit (the communication device 518), the second work machine The (second tractor 1B) can easily acquire correction information from the first work implement (the first tractor 1A).
  • the positioning system of the working machine includes a second GNSS positioning device 533 provided in the second working machine (second tractor 1B) and capable of performing positioning based on the first satellite signal transmitted from the GNSS satellite 101,
  • the positioning device 533 is based on the observation data of the first satellite signal received by the second GNSS positioning device 533 and the correction information transmitted from the first correction information transmitting unit, and based on the second work implement (second tractor 1B). Is provided with a position calculation unit 533d for obtaining the position of.
  • the second work machine (second tractor 1B) performs the second work using the correction information transmitted from the first work machine (first tractor 1A) and the first satellite signal transmitted from the GNSS satellite 101. Highly accurate position of the vehicle (second tractor 1B).
  • the first correction information transmission unit (communication device 518) transmits correction information in response to a request from the second work implement (second tractor 1B). According to this, on the second work machine (second tractor 1B) side, correction information can be efficiently acquired when a highly accurate position is required.
  • the positioning system of the working machine is provided in the second working machine (second tractor 1B) and is different from the first working machine (first tractor 1A) and the second working machine (second tractor 1B).
  • the third tractor 1C) includes a second correction information transmitting unit that transmits the correction information transmitted from the first correction information transmitting unit of the first work machine (the first tractor 1A). According to this, the correction information can be transmitted from the second work machine (second tractor 1B) to the third work machine (third tractor 1C).
  • the first work machine (first tractor 1A) and the second work machine (second tractor 1B) include a traveling vehicle body 3, a motor 4 provided on the traveling vehicle body 3, and a power source mounted on the traveling vehicle body 3 and driven by the power motor 4. And a steering device 11 for steering the traveling vehicle body 3. According to this, more accurate positioning of each of the working machines (the first working machine and the second working machine) in which the working device 2 is operated by the power of the prime mover 4 can be performed.
  • the steering device 11 changes the steering angle of the traveling vehicle body 3 based on the positioning. According to this, the steering can be performed by the steering device 11 using the accurate positioning of the first GNSS positioning device 531 or the second GNSS positioning device 533.

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Signal Processing (AREA)
  • Automation & Control Theory (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Guiding Agricultural Machines (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

Grâce à la présente invention, un signal satellite d'un satellite QZSS est facilement reçu, même dans un engin de chantier comportant un dispositif de positionnement GNSS. La présente invention concerne un engin de chantier (1) qui est pourvu d'un premier dispositif de positionnement GNSS (31) capable de se positionner sur la base d'un premier signal satellitaire transmis depuis un satellite GNSS (101), un dispositif de positionnement QZSS (32) pouvant délivrer en sortie des informations de correction sur la base d'un deuxième signal satellitaire transmis depuis un satellite QZSS (102), un premier dispositif de support (141) auquel le premier dispositif de positionnement GNSS (31) est fixé, et un deuxième dispositif de support (142) auquel le dispositif de positionnement QZSS (32) est fixé et qui est relié au premier dispositif de support (141). L'engin de chantier (1) est également pourvu d'un élément de fixation (131f) pour fixer le premier dispositif de support (141), le premier dispositif de support (141) et le deuxième dispositif de support (142) sont disposés de façon à se chevaucher au moins partiellement, et l'élément de fixation (131f) fixe conjointement le premier dispositif de support (141) et le deuxième dispositif de support (142).
PCT/JP2019/025889 2018-07-13 2019-06-28 Engin de chantier et système de positionnement d'engin de chantier WO2020012989A1 (fr)

Priority Applications (3)

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CN201980036079.4A CN112204430A (zh) 2018-07-13 2019-06-28 作业机及作业机的定位系统
AU2019302087A AU2019302087B2 (en) 2018-07-13 2019-06-28 Work machine and work machine positioning system
KR1020207030774A KR102527843B1 (ko) 2018-07-13 2019-06-28 작업기

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP2018-133669 2018-07-13
JP2018133670A JP6995711B2 (ja) 2018-07-13 2018-07-13 作業機の測位システム
JP2018-133670 2018-07-13
JP2018133669A JP2020012681A (ja) 2018-07-13 2018-07-13 作業機
JP2018133666A JP6938444B2 (ja) 2018-07-13 2018-07-13 作業機
JP2018-133666 2018-07-13

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CN (1) CN112204430A (fr)
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KR20200135508A (ko) 2020-12-02
KR102527843B1 (ko) 2023-05-02

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