Work machine support system and work machine support method

Abstract

To perform more accurate position detection on the basis of a satellite signal transmitted from a normal positioning satellite even when an anomaly occurs in the positioning satellite.SOLUTION: A work machine support system comprises: a signal acquisition section that acquires satellite signals received by a plurality of base stations respectively provided at predetermined reference points from a plurality of positioning satellites included in the plurality of satellite positioning systems; a generation section that generates correction information on the basis of the satellite signals acquired by the signal acquisition section; a selection section that selects one or more positioning satellites from among the plurality of positioning satellites; and a position detector that detects a position of a work machine using the satellite signals from the positioning satellites selected by the selection section and correction information based on the reference points of the base stations which has received the satellite signals. When the number of positioning satellites that are determined not to satisfy a predetermined condition and be anomalous among the plurality of positioning satellites included in the satellite positioning systems is equal to or greater than a predetermined threshold, the selection section does not select the plurality of positioning satellites included in the satellite positioning systems.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a support system for a work machine and a support method for a work machine.

Background Art

[0002] As shown in Patent Document 1, the RTK (Real Time Kinematic) method is known as a technique for relatively easily realizing highly accurate positioning. In this RTK method, there are an RRS (Real Reference Station)-GNSS method that uses the actual reference point (absolute position) of a base station (electronic reference point) as a reference point, and a VRS (Virtual Reference Station)-GNSS method that uses a virtual reference point virtually created near a mobile station as a reference point.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the RRS-GNSS method, the VRS-GNSS method, etc., correction information based on satellite signals transmitted from a reference point and positioning satellites is transmitted to a mobile station, and the position of the mobile station is calculated on the mobile station side based on the satellite signals and the correction information, whereby the positioning accuracy of the mobile station can be improved.

[0005] However, when an abnormality occurs in a positioning satellite that transmits satellite signals, if correction information based on the satellite signals transmitted from the positioning satellite is transmitted to the mobile station, the positioning accuracy of the mobile station may decrease.

[0006] The present invention has been made to solve such problems of the prior art, and even when an abnormality occurs in a positioning satellite, more accurate position detection can be performed based on satellite signals transmitted from normal positioning satellites. An object of the present invention is to provide an assistance system for a working machine and an assistance method for a working machine.

Means for Solving the Problems

[0007] An assistance system for a working machine according to an aspect of the present invention includes a signal acquisition unit that acquires satellite signals received from a plurality of positioning satellites included in a plurality of satellite positioning systems by a plurality of base stations provided at respective predetermined reference points, a generation unit that generates correction information based on the satellite signals acquired by the signal acquisition unit, a selection unit that selects one or a plurality of the positioning satellites from among the plurality of positioning satellites, and a position detection device that detects the position of the working machine using the satellite signals from the positioning satellites selected by the selection unit and the correction information based on the reference points of the base stations that received the satellite signals. The selection unit does not select a plurality of the positioning satellites included in the satellite positioning system when the number of the positioning satellites that do not satisfy a predetermined condition and are determined to be abnormal is equal to or greater than a predetermined threshold among the plurality of the positioning satellites included in the satellite positioning system.

[0008] The assistance system for the working machine includes a vehicle body communication device that is provided on the working machine and receives the correction information generated by the generation unit. The signal acquisition unit, the generation unit, and the selection unit are provided in an external server that communicates with the vehicle body communication device. The generation unit generates the correction information based on the satellite signals from the positioning satellites selected by the selection unit and the reference points of the base stations that received the satellite signals. The server transmits the correction information generated by the generation unit to the vehicle body communication device, and the vehicle body communication device may output the received correction information to the position detection device.

[0009] The support system of the work machine includes a vehicle body communication device provided on the work machine and receiving the correction information generated by the generation unit. The signal acquisition unit and the generation unit are provided in an external server that communicates with the vehicle body communication device. The selection unit is provided in a vehicle body communication device that the work machine has and communicates with the server. Among the correction information generated by the generation unit, the correction information based on the satellite signal from the selected positioning satellite and the reference point of the base station that received the satellite signal may be output to the position detection device.

[0010] The support system of the work machine includes a mobile terminal capable of communicating with the server and the vehicle body communication device. The vehicle body communication device may receive the correction information from the server via the mobile terminal.

[0011] As the predetermined condition, the selection unit may determine whether the health information of the positioning satellite that transmitted the satellite signal included in the satellite signal is normal.

[0012] As the predetermined condition, the selection unit determines whether the second calculated distance between the positioning satellite and the base station calculated based on the satellite signal is appropriate with respect to the first calculated distance between the positioning satellite and the base station calculated based on the position of the positioning satellite that transmitted the satellite signal and the position of the reference point of the base station.

[0013] Among the plurality of positioning satellites of the satellite positioning system, when the number of positioning satellites that do not satisfy the predetermined condition is less than the threshold value after being equal to or more than the threshold value, the selection unit may select the positioning satellites that satisfy the predetermined condition in order.

[0014] The support system of the work machine may include a determination unit that determines the position detection accuracy, which is the accuracy of position detection based on the correction information generated by the generation unit, and a notification device that notifies that the position detection accuracy is relatively low when the determination unit determines that the position detection accuracy is relatively low.

[0015] The generating unit may generate, as the correction information, first correction information based on the satellite signal received by the base station and the reference point of the base station, and second correction information including the satellite signal received by three or more predetermined base stations among the plurality of base stations and a virtual reference point based on the reference points of the three or more base stations.

[0016] The support system of the working machine includes a selection unit that selects any one of the first correction information and the second correction information generated by the generating unit. The selection unit may select the correction information according to the positional relationship between the area of the polygon formed by connecting the reference points of three or more base stations and the working machine.

[0017] When the working machine is located inside the area, the selection unit may preferentially select the satellite signal received by the three or more base stations and the second correction information based on the reference points of the three or more base stations.

[0018] When the distance of each of the reference points of the three or more base stations is less than a first distance, the selection unit may preferentially select the satellite signal received by the three or more base stations and the second correction information based on the reference points of the three or more base stations.

[0019] Among the reference points of the three or more base stations, when the relative distance between the reference point of the base station closest to the working machine and the working machine is less than a predetermined second distance, the selection unit may preferentially select the first correction information based on the satellite signal received by the base station closest to the working machine.

[0020] ​The work machine is located inside the area, the distance from each of the reference points of the three or more base stations is equal to or greater than a first distance, and among the reference points of the three or more base stations, when the relative distance between the reference point of the base station closest to the work machine and the work machine is equal to or greater than a predetermined second distance, the selection unit preferentially selects the satellite signals received by the three or more base stations and the second correction information based on the reference points of the three or more base stations. In such a case, the notification device may notify that the position detection accuracy corresponding to the second correction information is relatively low.

[0021] When the work machine is located outside the area and the relative distance between the reference point of the base station closest to the work machine and the work machine among the reference points of the three or more base stations is equal to or greater than a predetermined second distance, the notification device may notify that the position detection accuracy corresponding to the first correction information is relatively low.

[0022] The support system of the work machine may include a defining unit that defines the first distance according to the content of the work of the work machine.

[0023] The support system of the work machine may include a defining unit that defines the second distance according to the content of the work of the work machine.

[0024] The method for assisting a work machine according to one aspect of the present invention includes: a first step in which a selection unit selects one or more of a plurality of positioning satellites included in a plurality of satellite positioning systems; a second step in which a generation unit generates correction information based on satellite signals received by a plurality of base stations provided at predetermined reference points from the positioning satellites and the reference points of the base stations; and a third step in which a position detection device detects the position of the work machine by using the correction information generated in the second step based on the satellite signals from the positioning satellites selected in the first step and the reference points of the base stations that have received the satellite signals. In the first step, when the number of the positioning satellites that do not satisfy a predetermined condition and are determined to be abnormal among the plurality of positioning satellites included in the satellite positioning system is equal to or greater than a predetermined threshold, the selection unit does not select the plurality of positioning satellites included in the satellite positioning system.

Effects of the Invention

[0025] According to the work machine support system and the work machine support method described above, even when an abnormality occurs in a positioning satellite, more accurate position detection can be performed based on the satellite signals transmitted from normal positioning satellites.

Brief Description of the Drawings

[0026]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6A

Figure 6B

Figure 6C

Figure 7

Figure 8

Figure 9

Embodiments for Carrying Out the Invention

[0027] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram of a support system s1 for a work machine 1. The support system s1 for the work machine 1 includes a support device (server) 50 for the work machine 1 and the work machine 1. The work machine 1 can measure its own position (vehicle body position VP) based on satellite signals transmitted from a plurality of positioning satellites G of a plurality of satellite positioning systems s2 and correction information transmitted from the support device 50. Further, in the present embodiment, the support system s1 for the work machine 1 includes a mobile terminal 30 that relays communication between the work machine 1 and the support device 50.

[0028] The satellite positioning system s2 (GNSS: Global Navigation Satellite System) has a plurality of positioning satellites G. Also, the plurality of satellite positioning systems s2 include GLONASS (Global Navigation Satellite System), Galileo, QZSS (Quasi Zenith Satellite System), EGNOS (European Geostationary Navigation Overlay Service), BeiDou (Beidou Navigation Satellite System), and the like.

[0029] FIG. 2 shows a situation where the working machine 1 is automatically traveling along the planned travel route L based on the measured vehicle body position VP. In the present embodiment, the working machine 1 performs automatic travel based on the measured own position (vehicle body position) VP and the planned travel route L.

[0030] First, the working machine 1 will be described. The working machine 1 is an agricultural machine such as a tractor, a combine harvester, or a rice transplanter. FIG. 3 is a diagram showing a tractor as an example of the working machine 1. As shown in FIG. 3, the working machine 1 includes a machine body (vehicle body) 3, a prime mover 4, and a transmission 5. A traveling device 7 is provided on the vehicle body 3, and the traveling device 7 is a device having front wheels 7F and rear wheels 7R. A cabin 9 is provided on the vehicle body 3, and a driver's seat 10 is provided inside the cabin 9.

[0031] The prime mover 4 is a diesel engine, an electric motor, or the like. The transmission 5 can change the speed of the power transmitted to the traveling device 7 by shifting and switch the rotation direction (forward and reverse of the vehicle body 3).

[0032] Also, as shown in FIG. 3, a lifting device 8 composed of a three-point link mechanism or the like is provided at the rear of the vehicle body 3. A working device (implement) 2 can be attached to and detached from the lifting device 8. The working machine 1 can tow the working device 2 by connecting the working device 2 to the lifting device 8.

[0033] The working device 2 includes a digging device (harvesting device) for digging up potatoes and carrots, a fertilizer spraying device (fertilizing device) for spraying fertilizers, a spraying device such as a pesticide spraying device, a seeding device for sowing seeds in the field, a harvesting device for harvesting, a digging device for mowing grass, a spreading device for spreading grass, a grass collecting device for collecting grass, a shaping device for shaping grass, and a ground working device for performing ground working on the field. The ground working device includes a stubble cultivator for rough tillage, a drive harrow for secondary harrowing, a rotary tiller for tillage, and the like.

[0034] FIG. 4 is a block diagram of the support system s1 of the working machine 1. As shown in FIGS. 3 and 4, the working machine 1 includes a steering device 11. The steering device 11 has a steering wheel 11a, a rotating shaft (steering shaft) 11b that rotates as the steering wheel 11a rotates, and an auxiliary mechanism (power steering mechanism) 11c that assists the steering of the steering wheel 11a. The auxiliary mechanism 11c includes a hydraulic pump 12, a control valve 13 to which the hydraulic oil discharged from the hydraulic pump 12 is supplied, and a steering cylinder 14 that is operated by the control valve 13. The control valve 13 is an electromagnetic valve that operates based on a control signal. The control valve 13 is, for example, a three-position switching valve that can be switched by the movement of a spool or the like. Also, the control valve 13 can be switched by the steering of the steering shaft 11b. The steering cylinder 14 is connected to an arm (knuckle arm) 15 that changes the direction of the front wheel 7F.

[0035] Therefore, when the steering wheel 11a is operated, the switching position and opening degree of the control valve 13 are switched according to the steering wheel 11a. As a result, the steering cylinder 14 expands and contracts to the left or right according to the switching position and opening degree of the control valve 13, so that the steering direction of the front wheel 7F can be changed. Note that the above-described steering device 11 is an example and is not limited to the above-described configuration.

[0036] As shown in FIG. 4, the work machine 1 includes a vehicle body communication device 21, a position detection device (vehicle body positioning device) 22, a control device (vehicle body control device) 23, and a vehicle body storage device 24. The vehicle body communication device 21 is a device capable of receiving various data from outside the work machine 1 (for example, the support device 50) or transmitting various data to the outside. The vehicle body communication device 21 performs wireless communication with the outside, for example, by Wi-Fi (Wireless Fidelity, registered trademark) of the IEEE802.11 series, which is a communication standard, a mobile phone communication network, or a data communication network. The vehicle body communication device 21 has a communication control device 21a composed of an electric / electronic circuit, a CPU, a program stored in a memory, and the like. The communication control device 21a performs various controls related to the vehicle body communication device 21. In the present embodiment, the vehicle body communication device 21 communicates with the support device 50 via the mobile terminal 30 held by the operator. That is, in the present embodiment, the vehicle body communication device 21 communicates with the support device 50 using the mobile terminal 30 as an access point.

[0037] Specifically, the vehicle body communication device 21 communicates with the mobile terminal 30 by Wi-Fi (registered trademark), and the mobile terminal 30 communicates with the support device 50 by a mobile phone communication network. The vehicle body communication device 21 requests correction information for positioning by the RTK method from the support device 50 via the mobile terminal 30, for example, and receives the correction information from the support device 50 via the mobile terminal 30. The vehicle body communication device 21 outputs the received correction information to the position detection device 22. The vehicle body communication device 21 requests correction information at a predetermined time interval.

[0038] When the working machine 1 performs positioning by the RRS-GNSS method, the correction information is, for example, the position information (for example, information including latitude and longitude) of the reference point (absolute position) RP of the base station 40 and the distance information between the reference point RP and the positioning satellite G. Further, when the working machine 1 performs positioning by the VRS-GNSS method, the correction information is, for example, the position information of the virtual reference point VRP virtually defined in the vicinity of the working machine 1 and the distance information between the virtual reference point VRP and the positioning satellite G. In the following description, the correction information used in the RRS-GNSS method may be referred to as "first correction information", and the correction information used in the VRS-GNSS method may be referred to as "second correction information".

[0039] The position detection device 22 is a device that receives satellite signals (the position of the positioning satellite G, the transmission time when the positioning satellite G transmits the satellite signal, etc.) transmitted from a plurality of positioning satellites G and measures the position (vehicle body position VP) of the vehicle body 3 (working machine 1). The position detection device 22 has an antenna 22a for receiving satellite signals. The position detection device 22 measures the vehicle body position VP by the RTK method based on the satellite signals received by the antenna 22a and the correction information received by the vehicle body communication device 21. When the vehicle body communication device 21 receives correction information, the position detection device 22 acquires the correction information and performs positioning by the RRS-GNSS method or the VRS-GNSS method based on the satellite signals and the correction information. As shown in FIG. 3, the position detection device 22 is the vehicle body 3, and more specifically, is attached to the cab 9.

[0040] Note that the position detection device 22 determines the integer value bias of the satellite signals received by the antenna 22a from the positioning satellite G, and calculates the ratio of the Fix solutions for which the integer value bias for all positioning solutions can be determined as the Fix rate.

[0041] Further, the position detection device 22 may be capable of single positioning based on the satellite signals received by the antenna 22a. When the position detection device 22 has a plurality of antennas 22a, it may calculate the azimuth (vehicle body azimuth) of the vehicle body 3 based on the measured vehicle body position VP.

[0042] In addition, the position detection device 22 may include an inertial measurement unit (IMU) 2 2b. The inertial measurement unit 22b includes an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, and the like. In such a case, the position detection device 22 uses the information detected by the inertial measurement unit 22b to complement the position information obtained by positioning using the satellite signals received by the antenna 22a.

[0043] The control device 23 is provided inside the vehicle body 3 or the cabin 9 and is composed of an electric / electronic circuit, a CPU, a program stored in a memory, and the like. The control device 23 controls various devices connected to the in-vehicle network N of the working machine 1. Further, the control device 23 is a device that performs various arithmetic processes based on the input signals.

[0044] The vehicle body storage device 24 is a storage medium such as an SSD (Solid State Drive) or an HDD (Hard Disk Drive), and stores various information related to the working machine 1.

[0045] As shown in FIG. 4, the control device 23 includes an automatic driving control unit 23a and a setting unit 23b. The automatic driving control unit 23a and the setting unit 23b are composed of an electric / electronic circuit provided in the control device 23, a CPU, and a program stored in a memory.

[0046] The automatic driving control unit 23a controls the steering angle (rotation angle of the steering shaft 11b) and the traveling speed (vehicle speed) of the vehicle body 3 so that the vehicle body 3 travels along the planned travel route L. As shown in FIG. 2, the planned travel route L includes, for example, a straight section L1 where straight-ahead travel is performed and a turning section L2 where turning travel is performed. The planned travel route L is created on an area map stored in the vehicle body storage device 24 and including the work area H where the working machine 1 performs work. The work area H is a predefined area, and is predefined, for example, as a travel area where the working machine 1 performs automatic driving, before performing the automatic driving.

[0047] In this embodiment, the working area H is predefined based on the field where the working machine 1 performs operations. Specifically, the working area H is predefined based on the contour of the field. Note that the working area H may not be defined based on the field, but may be predefined as the working area where the working machine 1 performs a series of operations.

[0048] The working area H may be pre-stored in the vehicle body storage device 24, or may be created (defined) based on the vehicle body position VP detected by the position detection device 22 when the working machine 1 actually travels along the outer periphery of the field. Also, the planned travel route L may be created based on the information input by the input interface. The input interface is, for example, a display device 16 provided on the working machine 1 and capable of input operations. The display device 16 has, in addition to a display screen 16a for displaying a screen, for example, a touch pad or a hardware-type switch. Note that the input interface only needs to be capable of at least inputting information and allowing the control device 23 to acquire the input information, and may be a mobile terminal 30 such as a smartphone.

[0049]

[0050] Also, the planned travel route L may be pre-stored in the vehicle body storage device 24, or may be created (defined) based on the vehicle body position VP detected by the position detection device 22 when the working machine 1 actually travels. Also, the planned travel route L may be created based on the information input by the input interface.

[0051] Also, the input interface may create the working area H and the planned travel route L, or another arithmetic processing device may create the working area H and the planned travel route L based on the information received by the input interface.

[0052] ​The automatic driving control unit 23a automatically changes the control valve 13 of the steering device 11, the gear position of the transmission 5, the rotational speed of the prime mover 4, etc. based on the vehicle body position VP and / or the vehicle body orientation (at least one of the vehicle body position VP and the vehicle body orientation) measured by the position detection device 22 and the planned travel route L.

[0053] For example, the automatic driving control unit 23a controls the steering angle so that the position deviation between the vehicle body position VP and the planned travel route L is less than the threshold value (automatic driving control). That is, when the position deviation between the vehicle body position VP and the planned travel route L is less than the threshold value, the automatic driving control unit 23a controls the control valve 13 of the steering device 11 to maintain the steering angle. On the other hand, when the position deviation between the vehicle body position VP and the planned travel route L is greater than or equal to the threshold value, the automatic driving control unit 23a controls the control valve 13 of the steering device 11 to change the steering angle in the direction in which the position deviation becomes smaller. Further, the automatic driving control unit 23a changes the travel speed according to, for example, whether the vehicle body position VP is located in the straight section L1 or the turning section L2 of the planned travel route L. The automatic driving control unit 23a controls the travel speed to be lower when the vehicle body position VP is located in the turning section L2 than when the vehicle body position VP is located in the straight section L1.

[0054] Note that the above-described automatic driving control is an example and is not limited to this control.

[0055] Also, in the above-described embodiment, the case where the control device 23 has the automatic driving control unit 23a has been described as an example. However, the working machine 1 only needs to be able to perform work based on the vehicle body position VP measured by the position detection device 22. For example, in addition to or instead of the automatic driving control unit 23a, the control device 23 may have an automatic steering control unit that controls the steering angle of the vehicle body 3 so that the vehicle body 3 travels along the planned travel route L. Further, the display device 16 may display the current position of the working machine 1 on the area map based on the vehicle body position VP measured by the position detection device 22 and the area map stored in the storage device 53 and including the work area H.

[0056] When the vehicle body communication device 21 requests correction information from the support device 50, the setting unit 23b sets the information (request information) to be transmitted to the support device 50. The request information includes the position information of the vehicle body position VP measured by the position detection device 22. The position information of the vehicle body position VP included in the request information is the position information measured by the position detection device 22 by the RTK method. However, when the position detection device 22 cannot perform positioning by the RTK method (for example, when the vehicle body communication device 21 has not yet received correction information, such as immediately after the start of the working machine 1), the position information measured by single positioning may also be used. After etc., when the vehicle body communication device 21 has not yet received correction information), the position information measured by single positioning may also be used.

[0057] In the present embodiment, the request information includes, in addition to the position information of the vehicle body position VP, identification information indicating the working machine 1 and use information indicating the work content of the working device 2. The identification information indicating the working machine 1 is a unique character string for specifying each working machine 1. This identification information is stored in advance in the vehicle body storage device 24, for example.

[0058] The use information is information indicating the work content of the working device 2 connected to the working machine 1. The setting unit 23b acquires the work content based on the information input through the input interface and sets the use information. For example, the display device 16 displays a predetermined work selection screen on the display screen 16a and accepts a selection operation of options displayed on the work selection screen. The setting unit 23b acquires the information input by the display device 16 through the selection operation.

[0059] Note that the setting unit 23b may acquire the work content from other than the input interface. When the working device 2 and the control device 23 are communicably connected and the control device 23 can specify the work content based on the identification information of the working device 2, etc., the setting unit 23b may acquire the specified work content.

[0060] In addition, the information included in the above-described request information is an example, and for example, authentication information for authenticating the communication between the working machine 1 and the support device 50 may be included.

[0061] The mobile terminal 30 is a terminal such as a smartphone (multifunctional mobile phone), a tablet, or a PDA possessed by an operator. The mobile terminal 30 includes a terminal display screen 31, a terminal arithmetic unit 32, a terminal storage device 33, and a terminal communication device 34.

[0062] The terminal display screen 31 has a rectangular shape and is composed of a panel such as a liquid crystal display or an organic EL display, and can transition to various screens under the control of the terminal arithmetic unit 32.

[0063] The terminal arithmetic unit 32 is a device that performs various controls of the mobile terminal 30 and is composed of a CPU, an electric and electronic circuit, etc.

[0064] The terminal storage device 33 is a non-volatile memory or the like and can store various programs and various information related to the mobile terminal 30. The terminal storage device 33 stores various control programs and various data in advance.

[0065] The terminal communication device 34 performs wireless communication with the work machine 1 (vehicle body communication device 21) and the support device 50 through, for example, Wi-Fi (registered trademark), a mobile phone communication network, or a data communication network. The terminal communication device 34 is a device that can receive various data from outside the mobile terminal 30 (for example, the work machine 1 or the support device 50) or transmit various data to the outside. For this reason, the mobile terminal 30 can relay the communication between the vehicle body communication device 21 and the support device 50 through the terminal communication device 34. Also, the mobile terminal 30 can display a display image based on the information received from the support device 50 on the terminal display screen 31 via the terminal communication device 34.

[0066] The support device 50 is a fixed terminal (server) such as a fixed computer provided outside the work machine 1. The support device 50 is a device that acquires satellite signals received by a plurality of base stations 40 provided at respective predetermined reference points RP from a plurality of positioning satellites G and generates correction information based on the satellite signals. Hereinafter, the base station 40 that transmits satellite signals to the support device 50 will be described in detail It will be described in detail.

[0067] As shown in FIG. 1, the base station 40 is provided at a predetermined reference point RP and receives satellite signals from positioning satellites G. The base station 40 is, for example, a fixed base station 40 installed by the Geospatial Information Authority of Japan, an agricultural machinery manufacturer, an agricultural cooperative, or a management company, etc. at a predetermined reference point (absolute position) RP. A plurality of base stations 40 are arranged around the work area H and the work machine 1 located in the work area H. Each of the plurality of base stations 40 includes a base communication device 41, a base positioning device 42, a base arithmetic device 43, and a base storage device 44.

[0068] The base communication device 41 is a device that transmits various data to the outside of the base station 40 (for example, the support device 50) or receives data transmitted from the outside. The base communication device 41 performs wireless communication with the outside, for example, by Wi-Fi (registered trademark), a mobile phone communication network, or a data communication network. In the present embodiment, the base communication device 41 transmits observation information (information based on satellite signals) as data to the support device 50 via the management center. The management center is a fixed terminal (server) such as a fixed computer provided outside the work machine 1, and is installed, for example, by an agricultural machinery manufacturer, an agricultural cooperative, or a management company, etc. Note that the base communication device 41 only needs to be able to transmit the observation information to the support device 50, and may directly transmit the observation information to the support device 50 without going through the management center.

[0069] In addition, as long as the base communication device 41 can transmit the observation information to the support device 50, it may directly transmit the observation information to the support device 50 without passing through the management center.

[0070] The base positioning device 42 is a device that receives satellite signals transmitted from the positioning satellites G. The base positioning device 42 has an antenna 42a for receiving satellite signals.

[0071] The base arithmetic unit 43 is a device composed of an electric / electronic circuit, a CPU, a program stored in a memory, etc. The base arithmetic unit 43 performs various arithmetic processes related to the base station 40. The base arithmetic unit 43 defines (arithmetically processes) the observation information transmitted by the base communication device 41. For example, the base arithmetic unit 43 defines the observation information by attaching its own identification information (e.g., a predetermined character string) to the satellite signal and the reception time when the base positioning device 42 receives the satellite signal.

[0072] Note that the base arithmetic unit 43 may define the observation information by attaching its own reference point RP (specifically, the position information of the reference point RP) to the satellite signal.

[0073] The base storage device 44 is a storage medium such as an SSD (Solid State Drive) or an HDD (Hard Disk Drive), and stores various information related to the base station 40. The base storage device 44 stores, for example, the identification information of the base station 40 and the position information of the reference point RP.

[0074] Hereinafter, the support device 50 will be described in detail. As shown in FIG. 4, the support device 50 includes a communication device 51, an arithmetic device 52, and a storage device 53. The communication device 51 is a device that transmits various data to the outside of the support device 50 (e.g., the work machine 1 or the base station 40) or receives data transmitted from the outside (e.g., the work machine 1 or the base station 40). The communication device 51 performs wireless communication with the outside, for example, via Wi-Fi (registered trademark), a mobile phone communication network, or a data communication network. In the present embodiment, the communication device 51 indirectly receives the observation information from the base communication device 41 via the management center, or indirectly receives the request information from the vehicle body communication device 21 via the mobile terminal 30. Further, the communication device 51 indirectly transmits the correction information to the vehicle body communication device 21 via the mobile terminal 30. The arithmetic device 52 is a device composed of an electric / electronic circuit, a CPU, a program stored in a memory, etc. The arithmetic device 52 performs various arithmetic processes related to the support device 50.

[0075] The storage device 53 is a storage medium such as an SSD (Solid State Drive) or an HDD (Hard Disk Drive), and stores various information related to the support device 50.

[0076] The storage device 53 is a storage medium such as an SSD (Solid State Drive) or an HDD (Hard Disk Drive), and stores various information related to the support device 50. The storage device 53 stores, for example, the identification information of each base station 40 and the position information of the reference point RP of the base station 40 in association with each other.

[0077] The support device 50 generates correction information (first correction information) used in the RRS-GNSS method based on the satellite signal received by the base station 40 and the reference point RP of the base station 40. Further, the support device 50 generates correction information (second correction information including a virtual reference point VRP based on the satellite signals received by three or more predetermined base stations 40 among the plurality of base stations 40 and the reference points RP of the three or more base stations 40) used in the VRS-GNSS method based on the satellite signal and the reference point RP. As shown in FIG. 4, the support device 50 (computing device 52) includes a reception control unit 52a, a signal acquisition unit 52b, a selection unit 52c, a selection unit 52d, a definition unit 52e, a management unit 52f, a generation unit 52g, a transmission control unit 52h, and a state management unit 52i. The reception control unit 52a, the signal acquisition unit 52b, the selection unit 52c, the selection unit 52d, the definition unit 52e, the management unit 52f, the generation unit 52g, the transmission control unit 52h, and the state management unit 52i are software, and are composed of an electric / electronic circuit provided in the computing device 52, a CPU, a program stored in a memory, and the like.

[0078] Hereinafter, the software included in the computing device 52 will be described in detail.

[0079] The reception control unit 52a is software that controls the communication device 51 to receive information from the outside by the communication device 51. The reception control unit 52a causes the communication device 51 to receive information (for example, request information) transmitted from the vehicle body communication device 21 via the mobile terminal 30. Further, the reception control unit 52a causes the communication device 51 to receive information (for example, observation information) transmitted from the base station communication device 41 via the management center.

[0080] The signal acquisition unit 52b is software for acquiring satellite signals received by a plurality of base stations 40 from a plurality of positioning satellites G. The signal acquisition unit 52b acquires satellite signals from the observation information received by the communication device 51 under the control of the reception control unit 52a.

[0081] The selection unit 52c is software for selecting one or more positioning satellites G from among the plurality of positioning satellites G. The selection unit 52c selects the positioning satellites G corresponding to the correction information used by the position detection device 22. In the present embodiment, the selection unit 52c selects the positioning satellites G that transmit the satellite signals used by the generation unit 52g to create correction information. Specifically, when the number of positioning satellites G determined to be abnormal because they do not satisfy a predetermined condition (normal condition) among the plurality of positioning satellites G included in the satellite positioning system s2 such as GLONASS, Galileo, QZSS, EGNOS, BeiDou, etc. is equal to or greater than a predetermined threshold value (reference number), the selection unit 52c does not select the plurality of positioning satellites G included in the satellite positioning system s2. On the other hand, when the number of positioning satellites G determined to be abnormal among the plurality of positioning satellites G included in the satellite positioning system s2 is less than the reference number, the selection unit 52c selects only the positioning satellites G determined to be normal among the plurality of positioning satellites G included in the satellite positioning system s2. The selection unit 52c determines whether the positioning satellites G satisfy the normal condition, for example, every predetermined period (10 seconds), and selects the positioning satellites G. Note that the selection unit 52c may determine whether the positioning satellites G satisfy the normal condition not at a predetermined period but at a predetermined timing when the system is started.

[0082] The reference number is defined according to, for example, the total number of the plurality of positioning satellites G included in each satellite positioning system s2. In the present embodiment, the reference number is defined by the ratio (reference ratio) of the positioning satellites G determined to be abnormal among the plurality of positioning satellites G included in the satellite positioning system s2. Specifically, the reference number is the plurality of positioning satellites It is defined by multiplying the total number of satellites G by a reference ratio. The reference ratio is a value stored in the storage device 53 and is defined as, for example, 50%. Note that the reference ratio may be changed to any value such as 40% or 60% via an input interface communicably connected to the support device 50.

[0083] For example, among a plurality of satellite positioning systems s2, if the number of positioning satellites G of GLONASS that do not satisfy the normal conditions and are determined to be abnormal is equal to or greater than the reference number, the selection unit 52c does not select the plurality of positioning satellites G of the GLONASS. On the other hand, at this time, if the number of positioning satellites G of Galileo that do not satisfy the normal conditions and are determined to be abnormal is less than the reference number, the selection unit 52c selects the positioning satellites G that satisfy the normal conditions among the plurality of positioning satellites G of the Galileo.

[0084] The selection unit 52c manages the positioning satellites G using a management table (first management table) stored in the storage device 53. The selection unit 52c assigns a first selection flag to the identification information of the positioning satellites G that satisfy the normal conditions in the first management table.

[0085] In addition, the selection unit 52c manages the satellite positioning system s2 using a management table (second management table) stored in the storage device 53. The selection unit 52c assigns a second selection flag to the identification information of the satellite positioning system s2 in which the number of positioning satellites G that satisfy the normal conditions is less than the reference number in the second management table.

[0086] The selection unit 52c creates a selection table for managing the selected positioning satellites G based on the first management table and the second management table, and stores the selection table in the storage device 53. If the storage device 53 already stores a selection table, the selection unit 52c updates the selection table stored in the storage device 53.

[0087] Further, among the plurality of positioning satellites G of the satellite positioning system s2, when the number of positioning satellites G that do not satisfy the normal conditions is equal to or greater than the threshold value (reference number) and then becomes less than the reference number, the selection unit 52c may select in order from the normal positioning satellites G that satisfy the normal conditions. In other words, among the plurality of positioning satellites G of the satellite positioning system s2, when the number of positioning satellites G determined to be abnormal is equal to or greater than the reference number and the selection unit 52c has not selected the plurality of positioning satellites G of the satellite positioning system s2, and then the number of positioning satellites G determined to be abnormal among the plurality of positioning satellites G of the satellite positioning system s2 becomes less than the reference number, the selection unit 52c selects in order from the normal positioning satellites G that satisfy the normal conditions and adds them to the already selected positioning satellites G. The selection unit 52c newly selects the positioning satellites G that have not been selected at predetermined time intervals (for example, every 10 seconds).

[0088] When the number of positioning satellites G that satisfy the normal conditions among the plurality of positioning satellites G of the satellite positioning system s2 is equal to or greater than the reference number, every 10 seconds, the positioning satellites G that satisfy the normal conditions among the plurality of positioning satellites G of the satellite positioning system s2 are selected to update the selection table. Thereby, the selection unit 52c can newly select the positioning satellites G that have not been selected every 10 seconds.

[0089] Therefore, when the number of positioning satellites G determined to be abnormal among the plurality of positioning satellites G of the satellite positioning system s2 is equal to or greater than the reference number and then becomes less than the reference number, the positioning satellites G selected by the selection unit 52c are added one by one every 10 seconds.

[0090] Note that among the plurality of positioning satellites G of the satellite positioning system s2, when the number of positioning satellites G that do not satisfy the normal conditions is equal to or greater than the threshold value (reference number) and then the number of positioning satellites G that do not satisfy the normal conditions becomes less than the reference number, the selection unit 52c may select in order from the normal positioning satellites G that satisfy the normal conditions, and the selection processing method is not limited to the method described above. Among the plurality of positioning satellites G of the satellite positioning system s2, when the number of positioning satellites G that do not satisfy the normal conditions is equal to or greater than the threshold value (reference number) and then the number of positioning satellites G that do not satisfy the normal conditions becomes less than the reference number, the selection unit 52c may select in order from the normal positioning satellites G that satisfy the normal conditions, and the selection processing method is not limited to the method described above.

[0091] In addition, in the above description, the reference number is described by taking as an example the case where it is defined by multiplying the number of a plurality of positioning satellites G included in the satellite positioning system s2 by a reference ratio. However, the selection unit 52c only needs to be able to determine whether the number of positioning satellites G is equal to or greater than the reference number. The reference number may be defined in advance according to each satellite positioning system s2, for example, regardless of the reference ratio. In such a case, the reference number may be changed to an arbitrary numerical value via an input interface communicably connected to the support device 50.

[0092] In addition, in the above-described embodiment, the case where the reference number is defined according to the number of a plurality of positioning satellites G included in the satellite positioning system s2 is described as an example. However, without defining the reference number for each satellite positioning system s2, the determination unit 52i1 may use the same number of reference numbers in any satellite positioning system s2.

[0093] Hereinafter, the conditions (normal conditions) for the selection unit 52c to determine that the positioning satellite G is normal will be described. As a normal condition, the selection unit 52c determines whether the health information (health and hygiene status: SVhealth) of the positioning satellite G included in the satellite signal and transmitted by the positioning satellite G is normal (first normal condition). The health information of the positioning satellite G is a code indicating whether the positioning satellite G that transmitted the satellite signal is normal. Therefore, the selection unit 52c can confirm the health information of the positioning satellite G and determine whether the positioning satellite G is normal. Accordingly, the selection unit 52c can determine, based on the health information of the satellite signal acquired by the signal acquisition unit 52b, which of the plurality of positioning satellites G included in the satellite positioning system s2 are normal. When the health information of the positioning satellite G is "0", it indicates that the satellite signal is normal and the positioning satellite G is normal. On the other hand, when the health information of the positioning satellite G is "1", it indicates that some or all of the satellite signals are abnormal and the positioning satellite G is abnormal.

[0094] Further, as a normal condition, the selection unit 52c may determine whether the second calculated distance between the positioning satellite G and the base station 40 calculated based on the satellite signal is appropriate with respect to the first calculated distance between the positioning satellite G and the reference point RP of the base station 40 calculated based on the position of the positioning satellite G that transmitted the satellite signal and the position of the reference point RP of the base station 40 (second normal condition). Here, the first calculated distance is the actual distance between the positioning satellite G and the base station 40. On the other hand, the second calculated distance is a calculated distance based on the satellite signal.

[0095] Specifically, the selection unit 52c identifies the positioning satellite G that transmitted the satellite signal and the base station 40 that received the satellite signal from the observation information obtained from the management unit 52f described later. The selection unit 52c requests the reception control unit 52a to receive the position information of the identified positioning satellite G from the outside (for example, the management center). In response to the request, the reception control unit 52a causes the communication device 51 to receive the position information of the positioning satellite G from the management center, and the selection unit 52c acquires the position information of the positioning satellite G. Further, the position information of the reference point RP of the base station 40 stored in the storage device 53 is acquired. Thereby, the selection unit 52c calculates the first calculated distance based on the position information of the positioning satellite G and the position information of the reference point RP of the base station 40.

[0096] Note that the acquisition sources of the position information of the positioning satellite G and the position information of the reference point RP of the base station 40 are not limited to the management center and the storage device 53, and the selection unit 52c may acquire the information from a server or the like different from the management center.

[0097] Further, the selection unit 52c extracts the transmission time when the positioning satellite G transmitted the satellite signal and the reception time when the base station positioning device 42 received the satellite signal from the satellite signal included in the observation information, and multiplies the difference between the transmission time and the reception time by the speed of radio waves to calculate the second calculated distance.

[0098] As a result, the selection unit 52c can calculate the distance between a predetermined positioning satellite G and a predetermined base station 40 (satellite receiver - to - receiver distance) using the first calculated distance and the second calculated distance. Also, the selection unit 52c determines whether the second calculated distance, which is the calculated distance between the positioning satellite G and the base station 40, is appropriate for the first calculated distance, which is the actual distance between the predetermined positioning satellite G and the predetermined base station 40.

[0099] For example, when the ratio of the error (error rate) of the second calculated distance to the first calculated distance is less than a predetermined reference error rate, the selection unit 52c determines that the second calculated distance is appropriate for the first calculated distance. On the other hand, when the error rate of the second calculated distance to the first calculated distance is equal to or greater than the reference error rate, the selection unit 52c determines that the second calculated distance is not appropriate for the first calculated distance. In this embodiment, the error rate is 0.000005%.

[0100] Note that the reference error rate may be changed to any numerical value via an input interface communicably connected to the support device 50.

[0101] Also, in this embodiment, in the determination of the second normal condition, the selection unit 52c determines whether the second calculated distance is appropriate for the first calculated distance based on the error rate, but the method of this determination is not limited to the error rate. For example, the selection unit 52c may determine whether the second calculated distance is appropriate for the first calculated distance based on whether the absolute value of the difference (error) between the first calculated distance and the second calculated distance is less than a predetermined determination value.

[0102] The selection unit 52d is software that selects one of the first correction information and the second correction information generated by the generation unit 52g. The selection unit 52d selects one of the first correction information or the second correction information based on one or more conditions (selection conditions). In other words, the selection unit 52d selects whether to perform positioning on the position detection device 22 in the RRS - GNSS method or the VRS - GNSS method based on one or more selection conditions, and also selects the base station 40 that receives the satellite signal for generating the correction information.

[0103] Further, the selection unit 52d selects correction information for each work area H where the work machine 1 performs work. In the present embodiment, the selection unit 52d selects correction information based on one or more selection conditions at each position within a predetermined area obtained by dividing the work area H into a predetermined range, and selects, for each work area H, the correction information with the largest selected area within the work area H. In other words, when the work machine 1 enters or exits the work area H, the selection unit 52d selects the correction information corresponding to the work area H where the work machine 1 is located.

[0104] For example, the selection unit 52d acquires data including the position information of the vehicle body position VP from the request information received by the communication device 51, and acquires an area map including the work area H where the work machine 1 is located. The work area H is defined in advance as a work area where the work machine 1 performs a series of operations or a travel area where the work machine 1 performs automatic travel. The work area H is defined based on the vehicle body position VP detected by the position detection device 22 or based on arbitrary position information input through the input interface, and is stored in the storage device 53. The storage device 53 stores map information (area map) including the work area H.

[0105] Further, the area map is a mesh-type map obtained by dividing (partitioning) the one work area H into a plurality of individual areas Qn (n = 1, 2, 3 ··· n) of the same size with the work area H as a predetermined area. The selection unit 52d selects correction information based on a predetermined condition at the center position of each individual area Qn, and selects, as the correction information corresponding to the work area H, the correction information with the largest number of selected individual areas Qn, that is, the largest selected area.

[0106] Note that the selection unit 52d may select, for each work area H, the correction information with the largest selected area within the work area H, and the selection method is not limited to the method described above. For example, the selection unit 52d may define the area where the first correction information is selected and the area where the second correction information is selected, and select the correction information with the largest selected area as the correction information corresponding to the work area H. In such a case, the selection unit 52d may select correction information based on predetermined conditions at a position selected artificially or randomly, and define a boundary line (for example, at the center) between the position where the first correction information is selected and the position where the second correction information is selected, thereby defining the area where the first correction information is selected and the area where the second correction information is selected.

[0107] Hereinafter, the selection conditions will be described in detail. In the present embodiment, the selection unit 52d selects the first correction information or the second correction information according to the positional relationship between the polygon area E formed by connecting the reference points RP of three or more base stations 40 and the working machine 1, from among the first correction information and the second correction information.

[0108] For example, when the working machine 1 is located inside the area E, the selection unit 52d preferentially selects the satellite signals received by three or more base stations 40 and the second correction information based on the reference points RP of three or more base stations 40 (first selection condition). At this time, when the working machine 1 is located outside the area E, the selection unit 52d may preferentially select the first correction information obtained from the base station 40 closest to the working machine 1 over other correction information.

[0109] The selection unit 52d acquires data including the position information of the vehicle body position VP from the request information received by the communication device 51, and refers to the reference points RP of the plurality of base stations 40 stored in the storage device 53 and their position information. Based on the position information of the vehicle body position VP and the position information of the reference point RP, the selection unit 52d selects three or more base stations 40 that are close to the working machine 1 as the base stations 40 for positioning by the VRS-GNSS method. Specifically, the selection unit 52d selects three or more base stations 40 from the base stations 40 with the shortest horizontal distance between the working machine 1 and the base station 40 to the farthest base station 40 among the plurality of base stations 40 located around the working machine 1 based on the position information of the vehicle body position VP and the position information of the reference point RP.

[0110] In the present embodiment, the selection unit 52d selects three base stations 40. As shown in FIG. 1, the selection unit 52d generates a polygonal area E connecting the reference points RP of the three selected base stations 40, and determines whether the vehicle body position VP is located outside the area E. More specifically, when the vehicle body position VP is located on the outer contour line of the area E, the selection unit 52d determines that the working machine 1 is located inside the area E. Note that the selection unit 52d may determine that the working machine 1 is located outside the area E when the vehicle body position VP is located on the outer contour line of the area E.

[0111] Further, when the respective distances D1 of the reference points RP of three or more base stations 40 are less than the first distance d1, the selection unit 52d may preferentially select the satellite signals received by the three or more base stations 40 and the second correction information based on the reference points RP of the three or more base stations 40 (second selection condition). At this time, when the respective distances D1 of the reference points RP of three or more base stations 40 are equal to or greater than the first distance d1, the selection unit 52d may preferentially select the first correction information acquired from the base station 40 closest to the working machine 1 over other correction information.

[0112] In this embodiment, the selection unit 52d calculates the respective distances D1 of the reference points RP of the three or more base stations 40 selected as the base stations 40 for positioning by the VRS-GNSS method, that is, the lengths of the sides of the polygonal area E. When the selection unit 52d calculates the length of each side, it determines whether the length of each side is less than the first distance d1.

[0113] The first distance d1 is a value pre-stored in the storage device 53, for example, 50 km. Note that the value of the first distance d1 is not limited to 50 km and may be changed to any numerical value via an input interface communicably connected to the support device 50.

[0114] Further, when the relative distance (baseline length) D2 between the reference point RP of the base station 40 closest to the work machine 1 and the work machine 1 among the reference points RP of the three or more base stations 40 is less than a predetermined second distance d2, the selection unit 52d may preferentially select the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1 (third selection condition). At this time, when the baseline length D2 is equal to or greater than the predetermined second distance d2, the selection unit 52d may preferentially select the satellite signals received by the three or more base stations 40 and the second correction information based on the reference points RP of the three or more base stations 40.

[0115] The selection unit 52d calculates the baseline length D2 between the reference point RP of the base station 40 closest to the work machine 1 and the work machine 1 based on the position information of the vehicle body position VP acquired from the request information received by the communication device 51 and the position information of the reference points RP of the three or more base stations 40 selected as the base stations 40 for positioning by the VRS-GNSS method. When the selection unit 52d calculates the baseline length D2, it determines whether the length of the baseline length D2 is less than the second distance d2.

[0116] The second distance d2 is a value pre-stored in the storage device 53, for example, 10 km. Note that the value of the second distance d2 is not limited to 10 km and may be changed to any numerical value via an input interface communicably connected to the support device 50.

[0117] Regarding the selection of correction information based on the first to third selection conditions, when the working machine 1 is located inside the area E and the respective distances D1 of the reference points RP of three or more base stations 40 are less than the first distance d1, the selection unit 52d preferentially selects the satellite signals received by the three or more base stations 40 and the second correction information based on the reference points RP of the three or more base stations 40.

[0118] Also, when the working machine 1 is located inside the area E, the respective distances D1 of the reference points RP of three or more base stations 40 are greater than or equal to the first distance d1, and among the reference points RP of the three or more base stations 40, when the baseline length D2 is greater than or equal to a predetermined second distance d2, the selection unit 52d preferentially selects the satellite signals received by the three or more base stations 40 and the second correction information based on the reference points RP of the three or more base stations 40.

[0119] Also, when the working machine 1 is located inside the area E, the respective distances D1 of the reference points RP of three or more base stations 40 are greater than or equal to the first distance d1, and among the reference points RP of the three or more base stations 40, when the baseline length D2 is less than a predetermined second distance d2, the selection unit 52d preferentially selects the first correction information based on the satellite signal received by the base station 40 closest to the working machine 1.

[0120] Also, when the working machine 1 is located outside the area E and the baseline length D2 is less than a predetermined second distance d2, the selection unit 52d preferentially selects the first correction information based on the satellite signal received by the base station 40 closest to the working machine 1.

[0121] Also, when the working machine 1 is located outside the area E, the baseline length D2 is less than a predetermined second distance d2, and the respective distances D1 of the reference points RP of three or more base stations 40 are less than the first distance d1, the selection unit 52d preferentially selects the satellite signals received by the three or more base stations 40 and the second correction information based on the reference points RP of the three or more base stations 40.

[0122] When the working machine 1 is located outside the area E, the baseline length D2 is less than a predetermined second distance d2, and the distance D1 of each reference point RP of three or more base stations 40 is equal to or greater than a first distance d1, the selection unit 52d is based on the satellite signal received by the base station 40 closest to the working machine 1. Preferentially selects the first correction information.

[0123] In the above description, the case where the selection unit 52d selects correction information based on the first to third selection conditions has been described as an example. However, the selection unit 52d may select correction information based on one or more selection conditions, and the conditions are not limited to the above example.

[0124] When the selection unit 52d selects the first correction information or the second correction information according to the work area H where the working machine 1 is located, the selection unit 52d outputs an instruction signal to the generation unit 52g, and requests the generation unit 52g to request the management unit 52f for information (for example, observation information) necessary for generating the correction information. The instruction signal includes the identification information of the base station 40 in order to specify the observation information. The generation unit 52g outputs a signal (the instruction signal in this embodiment) based on the instruction signal to the management unit 52f, and requests the management unit 52f for the observation information.

[0125] Note that if the position information of the work area H is defined, the selection unit 52d can select correction information based on the above selection conditions. For example, when the area map is defined, correction information is selected for each work area H based on the selection conditions. In addition, if an abnormality occurs in any of the selected base stations 40, the selection unit 52d may select correction information for each work area H again based on the selection conditions.

[0126] The defining unit 52e is software that defines the first distance d1 and / or the second distance d2 according to the content of the work of the work machine 1. The defining unit 52e defines the first distance d1 and the second distance d2 according to the work content of the work device 2 included in the request information received by the communication device 51. When the work content requires relatively high position detection accuracy, that is, when it is necessary to improve the detection accuracy of the vehicle body position VP, the defining unit 52e shortens the first distance d1 and the second distance d2. On the other hand, when the work content does not require relatively high position detection accuracy, that is, when it is not necessary to improve the detection accuracy of the vehicle body position VP and the work efficiency may be prioritized, the defining unit 52e lengthens the first distance d1 and the second distance d2.

[0127] The defining unit 52e is pre-stored in the storage device 53, and defines the first distance d1 and the second distance d2 by multiplying the reference distance (first reference distance) for calculating the first distance d1 and the reference distance (second reference distance) for calculating the second distance d2 by predetermined correction values respectively. A correction table showing the relationship between the work content and the correction values to be multiplied by the first and second reference distances respectively is stored in the storage device 53. For example, in the order of the seeding operation performed by the seeding device, the harvesting operation performed by the harvesting device, the tilling operation performed by the tilling device, the subsoiling operation performed by the subsoiling device, and the spraying operation performed by the spraying device, relatively high position detection accuracy is required.

[0128] For example, in the present embodiment, the correction value for the seeding operation is defined as 0.8, the correction value for the harvesting operation is defined as 0.9, the correction value for the tilling operation is defined as 1.0, the correction value for the subsoiling operation is defined as 1.1, and the correction value for the spraying operation is defined as 1.2.

[0129] Note that the correction values corresponding to the above-described work content are merely examples and are not limited thereto, and may be changed to arbitrary numerical values for the first reference distance and the second reference distance respectively. For example, they may be changed to arbitrary numerical values via an input interface communicably connected to the support device 50.

[0130] Further, when the work content requires relatively high position detection accuracy, the definition unit 52e shortens the first distance d1 and the second distance d2. When the work content does not require relatively high position detection accuracy, the first distance d1 and the second distance d2 may be lengthened. The method of definition is not limited to the method described above. For example, the definition unit 52e may define the first distance d1 and the second distance d2 by adding or subtracting a predetermined correction value to / from the first reference distance and the second reference distance. 。

[0131] The management unit 52f is software that manages the satellite signals acquired by the signal acquisition unit 52b. The management unit 52f outputs the satellite signals to the selection unit 52c and the generation unit 52g. Based on the selection table stored in the storage device 53 and the instruction signal output from the generation unit 52g, the management unit 52f causes the base station 40 corresponding to the first correction information or the second correction information selected by the selection unit 52d to output the observation information received from the positioning satellite G (among the plurality of positioning satellites G of the satellite positioning system s2 to which the second selection flag is assigned, the positioning satellite G to which the first selection flag is assigned) selected by the selection unit 52c to the generation unit 52g. The management unit 52f extracts the satellite signal received from the positioning satellite G selected by the selection unit 52c from the satellite signals acquired by the signal acquisition unit 52b based on the identification information of the selected positioning satellite G and the identification information of the base station 40 included in the instruction signal. The management unit 52f outputs the extracted satellite signal to the generation unit 52g and does not output the satellite signals not selected by the selection unit 52c to the generation unit 52g.

[0132] The generation unit 52g is software that generates correction information (first correction information and second correction information) based on the satellite signals acquired by the signal acquisition unit 52b. In the present embodiment, the generation unit 52g generates correction information based on the satellite signals from the positioning satellite G selected by the selection unit 52c and the reference point RP of the base station 40 that has received the satellite signals among the satellite signals acquired by the signal acquisition unit 52b.

[0133] Based on the instruction signal output from the selection unit 52d, the generation unit 52g requests observation information (satellite signal) from the management unit 52f. When the generation unit 52g acquires the instruction signal and the observation information based on the selection table from the management unit 52f, it generates correction information based on the satellite signal and the like included in the observation information.

[0134] Specifically, the generation unit 52g generates first correction information based on the satellite signal acquired by the signal acquisition unit 52b and the reference point RP of the base station 40 that received the satellite signal. In addition, the generation unit 52g generates second correction information including a virtual reference point VRP based on the satellite signals received by three or more predetermined base stations 40 among the plurality of base stations 40 and the reference points RP of the three or more base stations 40. The generation unit 52g outputs the generated correction information to the transmission control unit 52h.

[0135] The transmission control unit 52h is software that controls the communication device 51 to transmit information externally from the communication device 51. For example, the transmission control unit 52h performs control to cause the communication device 51 to transmit the correction information generated by the generation unit 52g. Specifically, the transmission control unit 52h controls the time interval for transmitting the correction information. For example, the transmission control unit 52h outputs the correction information acquired from the generation unit 52g to the communication device 51 at a predetermined time interval. The communication device 51 acquires the correction information output by the transmission control unit 52h and transmits the correction information.

[0136] Thereby, the communication device 51 (server 50) transmits to the vehicle body communication device 21 the satellite signal from the positioning satellite G selected by the selection unit 52c and the correction information based on the reference point RP of the base station 40 that received the satellite signal. In addition, the vehicle body communication device 21 outputs the received correction information to the position detection device 22.

[0137] Specifically, when the vehicle body communication device 21 receives the first correction information from the communication device 51, the position detection device 22 performs positioning by the RRS-GNSS method based on the satellite signal received by the antenna 22a and the first correction information output from the vehicle body communication device 21. On the other hand, when the vehicle body communication device 21 receives the second correction information from the communication device 51, the position detection device 22 performs positioning by the VRS-GNSS method based on the satellite signal received by the antenna 22a and the second correction information output from the vehicle body communication device 21.

[0138] The state management unit 52i is software that manages information (state information) related to position detection based on correction information. As state information, the state management unit 52i manages, for example, the accuracy of position detection (position detection accuracy) based on the correction information selected by the selection unit 52d, the number of positioning satellites G that the position detection device 22 is receiving satellite signals from, the operating status of the support device 50, the horizontal dilution of precision (HDOP), the presence or absence of multipath, the presence or absence of interference waves, the baseline length D2, the age of the data, the state of the support device 50, and information related to positioning (state information) indicating the state of the positioning satellite G.

[0139] Specifically, the state management unit 52i acquires the state information itself calculated by the control device 23 etc. from the position detection device 22, the control device 23, the vehicle body storage device 24, etc. via the vehicle body communication device 21 and the terminal communication device 34, or acquires information necessary for calculating the state information and calculates the state information. Further, the state management unit 52i acquires the operating status etc. from the hardware and software of the support device 50, or acquires information necessary for calculating the state information from other software and the storage device 53 of the arithmetic device 52 and calculates the state information.

[0140] Note that the state management unit 52i may manage multiple types of position detection accuracies calculated by different calculation methods as the position detection accuracy of position detection based on respective correction information. In the present embodiment, the state management unit 52i manages the first to third detection accuracies. The state detection device stores, in the storage device 53, by associating with the work area H in which the correction information corresponding to the position detection accuracy (the first to third detection accuracies) and the correction information is selected, these position detection accuracies, and manages these position detection accuracies.

[0141] The first detection accuracy is the precise single positioning (PPP: Precise Point Positioning) of the reference point RP and is the position deviation between the position information of the reference point RP calculated by the precise single positioning and the actual position information of the reference point RP. At this time, the smaller the first detection accuracy (position deviations PD1, PD2), the higher the position detection accuracy in the positioning using the correction information, and the larger the position deviations PD1, PD2, the lower the position detection accuracy in the positioning using the correction information.

[0142] Specifically, when the generation unit 52g requests the management unit 52f for observation information (satellite signal), the management unit 52f outputs the satellite signal received from the positioning satellite G selected by the selection unit 52c by the base station 40 corresponding to the correction information to the generation unit 52g and the state management unit 52i. When the state management unit 52i acquires the satellite signal from the management unit 52f, it performs precise single positioning of the reference point RP. That is, the first detection accuracy is the position detection accuracy that is not the actual accuracy information including disturbances when the position detection device 22 of the work machine 1 actually detects the vehicle body position VP. Further, the state management unit 52i acquires the selection result (for example, an instruction signal) of the selection unit 52d selecting the correction information from the selection unit 52d, and determines whether the selected correction information is the first correction information or the second correction information.

[0143] When the state management unit 52i determines the position detection accuracy when the correction information is the first correction information and position detection (positioning in the RRS - GNSS method) is performed based on the first correction information, it performs precise single positioning at the base station 40 (reference point RP) based on the satellite signal acquired from the management unit 52f.

[0144] Further, the state management unit 52i acquires, from the storage device 53, the position information of the reference point RP of the base station 40 as the position information of the reference point RP for performing precise single positioning. Thereby, the state management unit 52i calculates the position deviation PD1 between the position information of the reference point RP calculated by precise single positioning (the position information of the position CP1 in FIG. 1) and the position information of the reference point RP acquired from the storage device 53 (the position information of the absolute position).

[0145] On the other hand, when the correction information is the second correction information and the state management unit 52i determines the position detection accuracy in the case of performing position detection (positioning by the VRS-GNSS method) based on the second correction information, the state management unit 52i acquires the position information of the vehicle body position VP from the request information received by the communication device 51, and defines a virtual reference point VRP around the vehicle body position VP. Further, the state management unit 52i acquires the second correction information generated by the generation unit 52g from the generation unit 52g, and performs precise single positioning at the virtual reference point VRP based on the second correction information and the satellite signal acquired from the management unit 52f. Thereby, the state management unit 52i calculates the position deviation PD2 between the position information of the virtual reference point VRP around the defined vehicle body position VP and the position information of the virtual reference point VRP calculated by precise single positioning (the position information of the position CP2 in FIG. 1).

[0146] The second detection accuracy is the accuracy based on the selection result of the correction information by the selection unit 52d. That is, the second detection accuracy is not the actual accuracy information including disturbances when the position detection device 22 of the work machine 1 actually detects the vehicle body position VP. Specifically, for example, when the work machine 1 is located inside the area E, the distance D1 of each of the reference points RP of three or more base stations 40 is equal to or greater than the first distance d1, and among the reference points RP of three or more base stations 40, the baseline length D2 is equal to or greater than the predetermined second distance d2, and when the selection unit 52d selects the second correction information, the state management unit 52i determines, based on the selection result, that the position detection accuracy corresponding to the second correction information selected by the selection unit 52d is relatively low.

[0147] Further, the work machine 1 is located outside the area E. Among the reference points RP of three or more base stations 40, when the baseline length D2 is equal to or greater than a predetermined second distance d2 and the selection unit 52d selects the first correction information or the second correction information, the state management unit 52i determines, based on the selection result, that the position detection accuracy corresponding to the correction information selected by the selection unit 52d is relatively low.

[0148] Specifically, in the above two cases, the selection unit 52d adds an accuracy degradation flag to the instruction signal. The state management unit 52i obtains the selection result (for example, the instruction signal) of the selection unit 52d selecting the correction information from the selection unit 52d, and determines whether the position detection accuracy corresponding to the correction information selected by the selection unit 52d is relatively low based on the instruction signal.

[0149] The third detection accuracy is the Fix rate of the satellite signal received by the position detection device 22 from the positioning satellite G. That is, the third detection accuracy is the actual accuracy information including disturbances when the position detection device 22 of the work machine 1 actually detects the vehicle body position VP. The state management unit 52i obtains the Fix rate from the position detection device 22 via the vehicle body communication device 21 and the terminal communication device 34, and manages the Fix rate as the third detection accuracy.

[0150] Note that the position detection accuracy managed by the state management unit 52i is not limited to the first to third detection accuracies, and may be any one or more of these, or may be the position detection accuracy calculated by other calculation methods. For example, the state management unit 52i may manage the number of positioning satellites G from which the position detection device 22 receives satellite signals, the signal strength (for example, SNR) of the satellite signals received by the position detection device 22 from the positioning satellites G, the horizontal dilution of precision (HDOP), and the age of data and the like as the position detection accuracy.

[0151] In addition, the state management unit 52i may determine whether the position detection accuracy it manages is relatively high, relatively low, etc., and manage the determination result as positioning information. In the following description, among the state management units 52i, the software that determines the position detection accuracy is referred to as the determination unit 52i1. The determination unit 52i1 determines the position detection accuracy based on the first to third detection accuracies. For example, when the determination unit 52i1 determines that at least one of the first to third detection accuracies is low, it determines that the position detection accuracy is relatively low.

[0152] The determination unit 52i1, for example, determines that the position detection accuracy is relatively low when the position deviations PD1 and PD2 of the first detection accuracy are equal to or greater than a predetermined first reference value. On the other hand, the determination unit 52i1 determines that the position detection accuracy is relatively high when the position deviations PD and PD2 of the first detection accuracy are less than the predetermined first reference value.

[0153] In addition, the determination unit 52i1, for example, determines that the position detection accuracy is relatively low when the Fix rate of the third detection accuracy is less than a predetermined second reference value. On the other hand, the determination unit 52i1 determines that the position detection accuracy is relatively high when the Fix rate of the third detection accuracy is equal to or greater than the predetermined second reference value.

[0154] Note that the state information calculated by the state management unit 52i described above is only an example, and other state information may be calculated, and the notification device 30 may notify the other state information. For example, when multipath, interference waves, etc. occur, the state management unit 52i may generate instruction information indicating an instruction to suppress the occurrence of the multipath, interference waves, etc. as state information.

[0155] In addition, the state management unit 52i may calculate, as state information, information indicating the positioning satellite G not selected by the selection unit and / or the satellite positioning system s2 having the positioning satellite G.

[0156] As shown in Fig. 4, the support system s1 of the work machine 1 may include a notification device that notifies the operator of information, and may notify the operator of the status information managed by the status management unit 52i. The notification device is, for example, a mobile terminal 30 such as a smartphone held by the operator. In the present embodiment, the notification device (mobile terminal) 30 displays a predetermined status display screen indicating the status information on the terminal display screen 31 based on the display information transmitted from the support device 50, and notifies the information.

[0157] Note that the notification device 30 only needs to be able to notify the operator of the status information, and is not limited to the mobile terminal 30. For example, the notification device 30 may be a lamp that notifies the operator of the status information by light, or a speaker that notifies the operator of the status information by sound, and existing technologies can be applied.

[0158] Specifically, when the status management unit 52i acquires or calculates the status information, it outputs notification information based on the status information to the transmission control unit 52h. The notification information is information based on the status information and is formatted (converted) into data that is easy for the mobile terminal 30 to process. When the transmission control unit 52h is output with the notification information from the status management unit 52i, it controls the communication device 51 to transmit the notification information from the communication device 51 to the terminal communication device 34.

[0159] In the present embodiment, the transmission control unit 52h causes the communication device 51 to transmit the notification information to the terminal communication device 34 together with the correction information. The notification information includes, for example, image information for the notification device 30 to display the status information. When the terminal communication device 34 receives the notification information, the terminal arithmetic unit 32 causes the status display screen to be displayed on the terminal display screen 31 based on the notification information.

[0160] Note that when the terminal arithmetic unit 32 can cause the status display screen to be displayed on the terminal display screen 31 by using a program, image information, etc. stored in the terminal storage device 33, the status information does not necessarily include image information.

[0161] The status display screen lists each piece of status information included in the status information. In the present embodiment, the status display screen lists the number of positioning satellites G that the position detection device 22 is receiving satellite signals from, the operating status of the support device 50, the horizontal dilution of precision (HDOP), the presence or absence of multipath, the presence or absence of interference waves, the baseline length D2, the age of the data, the status of the support device 50, the status of the positioning satellite G, and the position detection accuracy. Further, the status display screen may display the instruction information generated by the status management unit 52i. For example, a comment such as "The surrounding environment is abnormal. Move to an open area and reset the GNSS receiver." is displayed on the status display screen as the instruction information.

[0162] Note that the information that can be displayed on the status display screen is not limited to the information described above. Also, when the operator operates the transition button displayed on the status display screen, the terminal arithmetic device 32 may display the satellite display screen M1 on the terminal display screen 31. As shown in FIG. 5, the satellite display screen M1 has an arrangement display unit 105 that shows the arrangement of the positioning satellites G, and a list display unit 106 that shows the positioning satellites G not selected by the selection unit 52c and / or the satellite positioning system s2 having the positioning satellite G. In the example shown in FIG. 5, the list display unit 106 shows a case where BeiDou is displayed as the unselected satellite positioning system s2.

[0163] Also, in the above-described embodiment, the selection unit 52d selects correction information for each work area H according to the positional relationship between the polygonal area E and the work machine 1. However, when a predetermined condition is satisfied, correction information different from the selected correction information may be selected. For example, when the position detection accuracy, which is the accuracy of position detection based on the selected correction information, is less than a predetermined height, the selection unit 52d selects correction information that has a position detection accuracy of at least the predetermined height and is used by another work machine 1A around the work machine 1 instead of the selected correction information. In the present embodiment, the selection unit 52d may temporarily select different correction information when the position detection accuracy corresponding to the previously selected correction information is less than a predetermined height.

[0164] Specifically, the selection unit 52d acquires the position detection accuracy, which is state information, from the state management unit 52i. As the position detection accuracy, the selection unit 52d acquires actual accuracy information including disturbances when the position detection device 22 of the work machine 1 actually detects the vehicle body position VP, such as the third detection accuracy. In the present embodiment, the selection unit 52d acquires the third detection accuracy from the state management unit 52i as the position detection accuracy.

[0165] When the third detection accuracy acquired by the selection unit 52d from the state management unit 52i is less than the second reference value, instead of the correction information selected for each work area H, the correction information to be transmitted to other work machines 1 located within a range of a predetermined distance (for example, 1 km) from the work machine 1, and the third detection accuracy corresponding to the correction information transmitted from the vehicle body communication device 21 of the other work machine 1 are acquired. The selection unit 52d selects the correction information transmitted to the other work machine 1 when the correction information transmitted to the work machine 1 and the correction information transmitted to the other work machine 1 are correction information of different methods and the third detection accuracy corresponding to the correction information is equal to or greater than the second reference value.

[0166] That is, when the first correction information is being transmitted to a predetermined work machine 1 and the third detection accuracy corresponding to the first correction information is less than the second reference value, the selection unit 52d acquires the correction information to be transmitted to other work machines 1 within a range of 1 km from the work machine 1 and the third detection accuracy corresponding to the correction information. The selection unit 52d selects the first correction information when the correction information transmitted to the other work machine 1 is the second correction information and the third detection accuracy corresponding to the second correction information is equal to or greater than the second reference value.

[0167] Note that in the above example, the predetermined distance was defined as 1 km, but it may be changed to any numerical value via an input interface communicably connected to the support device 50.

[0168] Furthermore, in the above-described embodiment, when the position detection accuracy, which is the accuracy of position detection based on the selected correction information, is less than a predetermined level, instead of the correction information selected according to the positional relationship between the polygonal area E and the working machine 1, the selection unit 52d selects correction information used by another working machine 1A. However, based on other conditions, correction information different from the selected correction information may be selected. This may be the case. For example, when the position detection accuracy, which is the accuracy of position detection based on the selected correction information, is less than a predetermined level, the selection unit 52d may temporarily select different correction information instead of the selected correction information. Also, when the selected base station 40 is not in an operating state, the selection unit 52d may temporarily select correction information not based on the satellite signals received by the non-operating base station 40. In such a case, the selection unit 52d determines that the base station 40 is not in an operating state when the base station 40 does not respond even after a predetermined time (for example, 5 minutes) has elapsed. Further, the selection unit 52d may be configured such that arbitrary correction information can be selected by operating an input interface.

[0169] Also, the selection unit 52d may select correction information different from the correction information selected according to the positional relationship between the polygonal area E and the working machine 1, and cause the storage device 53 to store the different correction information and performance information including the position detection accuracy when position detection is performed based on this correction information, in association with the work area H. In such a case, when there is a record of selecting a plurality of different correction information in the work area H, the selection unit 52d selects the correction information with a higher position detection accuracy based on the position detection accuracy of each correction information.

[0170] Specifically, the selection unit 52d acquires the position detection accuracy, which is state information, from the state management unit 52i, and the position detection accuracy included in the performance information corresponding to the work area H where the working machine 1 is located, from the storage device 53. The selection unit 52d acquires one or more position detection accuracies as the position detection accuracy.

[0171] In the present embodiment, as the position detection accuracy, the selection unit 52d acquires the third detection accuracy from the state management unit 52i, and acquires the third detection accuracy included in the performance information corresponding to the work area H where the working machine 1 is located from the storage device 53. The selection unit 52d compares the third detection accuracy acquired from the state management unit 52i with the third detection accuracy included in the performance information, and if the third detection accuracy acquired from the state management unit 52i is higher than the third detection accuracy included in the performance information, the correction information selected for each work area H is selected and no other correction information is selected.

[0172] On the other hand, the selection unit 52d compares the third detection accuracy acquired from the state management unit 52i with the third detection accuracy included in the performance information, and if the third detection accuracy acquired from the state management unit 52i is higher than the third detection accuracy included in the performance information, instead of the correction information selected for each work area H, the correction information corresponding to the performance information is selected.

[0173] FIGS. 6A to 6C are diagrams for explaining a series of flows of a process in which the support device 50 generates correction information and the working machine 1 detects the vehicle body position VP based on the correction information in the support system s1 of the working machine 1. Hereinafter, a series of flows of the above process in the support system s1 of the working machine 1 will be explained with reference to FIGS. 6A to 6C.

[0174] First, the selection unit 52c determines whether or not a plurality of positioning satellites G included in each satellite positioning system s2 satisfy the first normal condition and the second normal condition (S1). The selection unit 52c assigns a first selection flag to the identification information of the positioning satellite G determined to satisfy the first normal condition and the second normal condition in the first management table (S2).

[0175] When the selection unit 52c determines that all positioning satellites G (for example, positioning satellites capable of receiving radio waves, visible satellites) are in normal conditions (S3, Yes), for each satellite positioning system s2, it determines whether the number of positioning satellites G without the first selection flag among the multiple positioning satellites G of each satellite positioning system s2 is equal to or greater than a reference number (S4). When the selection unit 52c determines that the number of positioning satellites G without the first selection flag is less than the reference number (S4, No), in the second management table, it assigns a second selection flag to the identification information of the satellite positioning system s2 in which the number of positioning satellites G without the first selection flag is equal to or greater than the reference number (S5 )

[0176] When the selection unit 52c determines that it has referred to all satellite positioning systems s2 (S6, Yes), it creates (or updates) a selection table based on the first management table and the second management table (S7).

[0177] Next, the selection unit 52d determines whether the working machine 1 is located inside the area E based on the polygonal area E and the vehicle body position VP (S8). When the selection unit 52d determines that the working machine 1 is located inside the area E (S8, Yes), it determines whether the respective distances D1 of the reference points RP of the three base stations 40 are less than the first distance d1 (S9).

[0178] When the selection unit 52d determines that the respective distances D1 of the reference points RP of the three base stations 40 are less than the first distance d1 (S9, Yes), it selects the satellite signals received by the three base stations 40 and the second correction information based on the reference points RP of the three base stations 40 (S10).

[0179] On the other hand, when the selection unit 52d determines that the respective distances D1 of the reference points RP of the three base stations 40 are equal to or greater than the first distance d1 (S9, No), it determines whether the length of the baseline D2 between the reference point RP of the base station 40 closest to the working machine 1 and the working machine 1 is less than the second distance d2 (S11).

[0180] When the selection unit 52d determines that the baseline length D2 is less than the second distance d2 (S11, Yes), it selects the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1 (S12). Further, when the selection unit 52d determines that the baseline length D2 is equal to or greater than the predetermined second distance d2 (S11, No), it selects the second correction information based on the satellite signals received by the three base stations 40 and the reference points RP of the three base stations 40 (S13). At this time, the selection unit 52d attaches an accuracy degradation flag to the instruction signal.

[0181] Further, when the selection unit 52d determines that the work machine 1 is located outside the area E (S8, No), it determines whether the length of the baseline D2 between the reference point RP of the base station 40 closest to the work machine 1 and the work machine 1 is less than the second distance d2 (S14). When the selection unit 52d determines that the baseline length D2 is less than the second distance d2 (S14, Yes), it selects the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1 (S15).

[0182] On the other hand, when the selection unit 52d determines that the baseline length D2 is equal to or greater than the predetermined second distance d2 (S14, No), it determines whether the respective distances D1 of the reference points RP of the three base stations 40 are less than the first distance d1 (S16). When the selection unit 52d determines that the respective distances D1 of the reference points RP of the three base stations 40 are less than the first distance d1 (S16, Yes), it selects the second correction information based on the satellite signals received by the three base stations 40 and the reference points RP of the three base stations 40 (S17). At this time, the selection unit 52d attaches an accuracy degradation flag to the instruction signal.

[0183] Further, when the selection unit 52d determines that the respective distances D1 of the reference points RP of the three base stations 40 are equal to or greater than the first distance d1 (S16, No), it selects the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1 (S18). At this time, the selection unit 52d attaches an accuracy degradation flag to the instruction signal.

[0184] When the selection unit 52d selects correction information (S10, S12, S13, S15, S17, S18), it outputs an instruction signal to the generation unit 52g (S19). Based on the instruction signal output from the selection unit 52d, the generation unit 52g requests the management unit 52f for observation information (satellite signal) (S20).

[0185] Based on the selection table stored in the storage device 53 and the instruction signal output from the generation unit 52g, the management unit 52f outputs to the generation unit 52g the observation information received from the positioning satellite G selected by the selection unit 52c, corresponding to the first correction information or the second correction information selected by the selection unit 52d (S21).

[0186] When the observation information is output to the generation unit 52g (S21), the generation unit 52g acquires the observation information (S22), and generates correction information based on the satellite signal and the like included in the observation information (S23). The generation unit 52g outputs the generated correction information to the transmission control unit 52h (S24).

[0187] When the transmission control unit 52h acquires the correction information from the generation unit 52g (S25), it controls the communication device 51 to transmit the correction information from the communication device 51 to the vehicle body communication device 21 (S26).

[0188] When the vehicle body communication device 21 receives the correction information, the position detection device 22 acquires the correction information (S27), and measures the vehicle body position VP by the RTK method based on the satellite signal received by the antenna 22a and the correction information received by the vehicle body communication device 21 (S28).

[0189] As described above, when the selection unit 52d determines that the working machine 1 is located inside the area E in S8 (S8, Yes), compared with the case where it determines that the working machine 1 is located outside the area E (S8, No), there are more options for selecting the satellite signals received by the three base stations 40 and the second correction information based on the reference points RP of the three base stations 40 (S10, S13). Further, when the selection unit 52d determines in S8 that the working machine 1 is located inside the area E (S8, Yes) and determines in S9 that the respective distances D1 of the reference points RP of the three base stations 40 are less than the first distance d1 (S9, Yes), it selects the second correction information without making judgments on other conditions (S10). Therefore, when the working machine 1 is located inside the area E (S8, Yes) and when it is determined that the respective distances D1 of the reference points RP of the three base stations 40 are less than the first distance d1 (S9, Yes), it can be said that the selection unit 52d preferentially selects the second correction information.

[0190] On the other hand, when the selection unit 52d determines in S8 that the working machine 1 is located outside the area E (S8, No), compared with the case where it determines that the working machine 1 is located inside the area E (S8, Yes), there are more options for selecting the first correction information based on the satellite signal received by the base station 40 closest to the working machine 1 (S15, S18). Further, when the selection unit 52d determines in S8 that the working machine 1 is located outside the area E (S8, No) and determines in S14 that the length of the baseline D2 between the reference point RP of the base station 40 closest to the working machine 1 and the working machine 1 is less than the second distance d2 (S14, Yes), it selects the first correction information without making judgments on other conditions (S15). Therefore, when the working machine 1 is located outside the area E (S8, No) and when it is determined that the length of the baseline D2 is less than the second distance d2 (S14, Yes), it can be said that the selection unit 52d preferentially selects the first correction information.

[0191] In the following description, the process (S1 to S8) in which the above-described selection unit 52c selects one or more positioning satellites G is referred to as the first step, the process (S23) in which the generation unit 52g creates correction information is referred to as the second step, and the process (S28) in which the position detection device 22 detects the position of the working machine 1 based on the correction information is referred to as the third step. Also, the process (S9 to S18) in which the selection unit 52d selects correction information may be referred to as the first step.

[0192] In addition, the series of flows of the process of the selection unit 52d shown in FIGS. 6A to 6C is an example, and the process may be performed in other flows. FIG. 7 is a diagram for explaining a series of flows of a process in which the support device 5 0 generates correction information and the working machine 1 detects the vehicle body position VP based on the correction information in the support system s1 of the working machine 1. In the example shown in FIG. 7, the selection unit 52d preferentially selects the first correction information based on the satellite signal received by the base station 40 closest to the working machine 1.

[0193] As is apparent from FIGS. 6A to 6C and FIG. 7, FIG. 7 is different in that the processes of S8 to S18 in FIG. 6B are S31 to S39. Hereinafter, using FIG. 7, the flow of the processes of S31 to S39 in the support system s1 of the working machine 1 in the first modification example will be described.

[0194] When the process of S17 ends, the selection unit 52d determines whether the length D2 of the baseline between the reference point RP of the base station 40 closest to the working machine 1 and the working machine 1 is less than the second distance d2 (S31). When the selection unit 52d determines that the baseline length D2 is less than the second distance d2 (S31, Yes), the selection unit 52d selects the first correction information based on the satellite signal received by the base station 40 closest to the working machine 1 (S32). Also, when the selection unit 52d determines that the baseline length D2 is greater than or equal to the predetermined second distance d2 (S31, No), based on the polygonal area E and the vehicle body position VP, it is determined whether the working machine 1 is located inside the area E (S33).

[0195] When the selection unit 52d determines that the working machine 1 is located inside the area E (S33, Yes), it determines whether the distance D1 from each reference point RP of the three base stations 40 is less than the first distance d1 (S34). When the selection unit 52d determines that the distance D1 from each reference point RP of the three base stations 40 is less than the first distance d1 (S34, Yes), it selects the satellite signals received by the three base stations 40 and the second correction information based on the reference points RP of the three base stations 40 (S35).

[0196] Also, even when the selection unit 52d determines that the distance D1 from each reference point RP of the three base stations 40 is greater than or equal to the first distance d1 (S34, No), it selects the satellite signals received by the three base stations 40 and the second correction information based on the reference points RP of the three base stations 40 (S36). At this time, the selection unit 52d adds an accuracy degradation flag to the instruction signal.

[0197] On the other hand, when the selection unit 52d determines that the working machine 1 is located outside the area E (S33, No), it determines whether the distance D1 from each reference point RP of the three base stations 40 is less than the first distance d1 (S37). When the selection unit 52d determines that the distance D1 from each reference point RP of the three base stations 40 is less than the first distance d1 (S37, Yes), it selects the satellite signals received by the three base stations 40 and the second correction information based on the reference points RP of the three base stations 40 (S38). At this time, the selection unit 52d adds an accuracy degradation flag to the instruction signal.

[0198] Also, when the selection unit 52d determines that the distance D1 from each reference point RP of the three base stations 40 is greater than or equal to the first distance d1 (S37, No), it selects the first correction information based on the satellite signal received by the base station 40 closest to the working machine 1 (S39). At this time, the selection unit 52d adds an accuracy degradation flag to the instruction signal.

[0199] When the selection unit 52d selects the correction information (S32, S35, S36, S38, S39), it proceeds to the process of S19.

[0200] As described above, when the selection unit 52d determines in S31 that the baseline length D2 is less than the second distance d2 (S31, Yes), without determining other conditions, it selects the first correction information based on the satellite signal received by the base station 40 closest to the working machine 1 (S32). That is, the selection unit 52d preferentially selects the first correction information without determining the conditions for preferentially selecting the second correction information. Therefore, it can be said that when the selection unit 52d can select both the first correction information and the second correction information, it preferentially selects the first correction information.

[0201] Further, when the selection unit 52d determines in S33 that the working machine 1 is located inside the area E (S33, Yes), compared to the case where it determines that the working machine 1 is located outside the area E (S33, No), there are more options to select the second correction information based on the satellite signals received by the three base stations 40 and the reference points RP of the three base stations 40 (S35, S36). Also, when the selection unit 52d determines in S33 that the working machine 1 is located inside the area E (S33, Yes), it selects the second correction information regardless of the determination in the subsequent S34 (S35, S36). Therefore, when the working machine 1 is located inside the area E (S33, Yes), it can be said that the selection unit 52d preferentially selects the second correction information.

[0202] On the other hand, when the selection unit 52d determines in S31 that the length D2 of the baseline between the reference point RP of the base station 40 closest to the working machine 1 and the working machine 1 in the working machine 1 is less than the second distance d2 (S31, Yes), without performing other condition determinations, the first correction information is selected (S32). Therefore, when it is determined that the length D2 of the baseline is less than the second distance d2 (S31, Yes), it can be said that the selection unit 52d preferentially selects the first correction information. Further, when the selection unit 52d determines in S33 that the working machine 1 is located outside the area E (S33, No), compared with the case where it is determined in S33 that the working machine 1 is located inside the area E (S33, Yes), there are more options for selecting the first correction information based on the satellite signal received by the base station 40 closest to the working machine 1 (S39). Therefore, when the selection unit 52d determines that the working machine 1 is located outside the area E, it can be said that the first correction information is preferentially selected.

[0203] Also, the series of processes of the selection unit 52d shown in FIGS. 6A to 6C and FIG. 7 may be omitted. Specifically, in the second modification example shown in FIG. 8, instead of the processes of S8 to S18 in FIG. 6B and the processes of S31 to S39 in FIG. 7, the processes of S41 to S45 are adopted. Similar to FIG. 7, in FIG. 8, the selection unit 52d preferentially selects the first correction information based on the satellite signal received by the base station 40 closest to the working machine 1. Hereinafter, with reference to FIG. 8, the flow of the processes of S41 to S45 in the support system s1 of the working machine 1 in the second modification example will be described.

[0204] In the second modification example shown in FIG. 8, when the process of S17 ends, the selection unit 52d determines whether the length D2 of the baseline between the reference point RP of the base station 40 closest to the working machine 1 and the working machine 1 is less than the second distance d2 (S41). When the selection unit 52d determines that the baseline length D2 is less than the second distance d2 (S41, Yes), the selection unit 52d selects the first correction information based on the satellite signal received by the base station 40 closest to the working machine 1 (S42).

[0205] Further, when the selection unit 52d determines that the baseline length D2 is equal to or greater than a predetermined second distance d2 (S41, No), it determines whether the working machine 1 is located within the target area of the VRS-GNSS method (S43). The position information of the target area is stored in advance in the storage device 53. The selection unit 52d determines whether the working machine 1 is located within the target area of the VRS-GNSS method based on the position information of the vehicle body position VP acquired from the request information received by the communication device 51 and the position information of the target area.

[0206] The target area is an area where positioning by the VRS-GNSS method is defined in advance as being possible or not. The target area is an area where there are relatively many installed base stations 40, or an area where an agricultural machinery manufacturer, agricultural cooperative, or management company, etc. provides the service of the support system s1 of the working machine 1. That is, outside the target area, for example, there are areas where there are relatively few installed base stations 40, or areas where an agricultural machinery manufacturer, agricultural cooperative, or management company, etc. does not provide the service of the support system s1 of the working machine 1, such as remote islands, overseas, and outer edges of the country.

[0207] When the selection unit 52d determines that the working machine 1 is located within the target area (S43, Ye s), it selects the satellite signals received by the three base stations 40 and the second correction information based on the reference points RP of the three base stations 40 (S44). On the other hand, when the selection unit 52d determines that the working machine 1 is not located within the target area (S43, No), it selects the first correction information based on the satellite signal received by the base station 40 closest to the working machine 1 (S45). At this time, the selection unit 52d attaches an accuracy degradation flag to the instruction signal.

[0208] As described above, when the selection unit 52d determines in S41 that the baseline length D2 is less than the second distance d2 (S41, Yes), without determining other conditions, it selects the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1 (S42). That is, the selection unit 52d preferentially selects the first correction information without determining the conditions for preferentially selecting the second correction information. Therefore, it can be said that the selection unit 52d preferentially selects the first correction information when it can select both the first correction information and the second correction information.

[0209] Also, the series of processes of the selection unit 52d described in the second modification example shown in FIG. 8 may be further omitted. Specifically, in the third modification example shown in FIG. 9, instead of the processes of S41 to S45 in FIG. 8, the processes of S51 to S53 are adopted. Similar to the examples shown in FIGS. 7 and 8, in the example shown in FIG. 9, the selection unit 52d preferentially selects the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1. Hereinafter, the flow of the processes of S51 to S53 in the support system s1 of the work machine 1 in the third modification example will be described with reference to FIG. 9.

[0210] In the third modification example shown in FIG. 9, when the process of S17 ends, the selection unit 52d determines whether the length of the baseline D2 between the reference point RP of the base station 40 closest to the work machine 1 and the work machine 1 is less than the second distance d2 (S51). When the selection unit 52d determines that the baseline length D2 is less than the second distance d2 (S51, Yes), it selects the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1 (S52). On the other hand, when the selection unit 52d determines that the baseline length D2 is greater than or equal to the second distance d2 (S51, No), it selects the second correction information based on the satellite signals received by the three base stations 40 and the reference points RP of the three base stations 40 (S53).

[0211] As described above, when the selection unit 52d determines in S51 that the baseline length D2 is less than the second distance d2 (S51, Yes), without determining other conditions, it selects the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1 (S52). That is, the selection unit 52d preferentially selects the first correction information without determining the condition for preferentially selecting the second correction information. Therefore, it can be said that the selection unit 52d preferentially selects the first correction information when it can select both the first correction information and the second correction information.

[0212] In the above-described embodiment, the case where the arithmetic unit 52 of the support device 50 includes the selection unit 52c, the selection unit 52d, and the generation unit 52g has been described as an example. However, the selection unit may select one or a plurality of positioning satellites G among the plurality of positioning satellites G, the selection unit may select correction information, and the generation unit may generate correction information, and they may be provided in other arithmetic processing devices. Further, the selection unit, the selection unit, and the generation unit may be provided in different arithmetic processing devices.

[0213] For example, the selection unit may be provided in an arithmetic processing device (communication control device 21a) included in the vehicle body communication device 21 and configured from a program or the like stored in an electric / electronic circuit, a CPU, a memory, or the like. In such a case, the generation unit 52g generates correction information based on the satellite signal acquired by the signal acquisition unit 52b, and the vehicle body communication device 21 receives the correction information via the communication device 51. The selection unit outputs, to the position detection device 22, the correction information based on the satellite signal from the selected positioning satellite G and the correction information based on the reference point RP of the base station 40 that has received the satellite signal among the correction information generated by the generation unit 52g.

[0214] Further, the selection unit and the generation unit may be provided in the communication control device 21a. In such a case, the vehicle body communication device 21 makes a request or the like for the satellite signal received by the base station 40 from the positioning satellite G selected by the selection unit to the support device 50 via the portable terminal 30, and receives the satellite signal via the communication device 51. The generation unit generates correction information based on the satellite signal received by the vehicle body communication device 21.

[0215] Further, the selection unit and the generation unit may be provided in the mobile terminal 30 and in an arithmetic processing device (terminal arithmetic processing device 32) composed of an electric / electronic circuit, a CPU, a program stored in a memory, etc. In such a case, the mobile terminal 30 requests the support device 50 for, for example, the satellite signal received by the base station 40 from the positioning satellite G selected by the selection unit, and receives the satellite signal from the support device 50. The generation unit generates correction information based on the satellite signal received by the vehicle body communication device 21, and outputs the correction information to the position detection device 22 via the vehicle body communication device 21.

[0216] The support system s1 for the working machine 1 according to one aspect of the present invention includes a signal acquisition unit 52b that acquires satellite signals received by a plurality of base stations 40 respectively provided at predetermined reference points RP from a plurality of positioning satellites G included in a plurality of satellite positioning systems s2, a generation unit 52g that generates correction information based on the satellite signals acquired by the signal acquisition unit 52b, a selection unit 52c that selects one or more positioning satellites G from among the plurality of positioning satellites G, and a position detection device 22 that detects the position of the working machine 1 using the satellite signal from the positioning satellite G selected by the selection unit 52c and the correction information based on the reference point RP of the base station 40 that has received the satellite signal. The selection unit 52c does not select a plurality of positioning satellites G included in the satellite positioning system s2 when the number of positioning satellites G that do not satisfy a predetermined condition and are determined to be abnormal among the plurality of positioning satellites G included in the satellite positioning system s2 is equal to or greater than a predetermined threshold.

[0217] According to this configuration, even when it is determined whether each positioning satellite G is normal, there may actually be an abnormality in the positioning satellite G. However, since the selection unit 52c does not select the positioning satellite G that transmits the satellite signal used for generating the correction information in units of the satellite positioning system s2, it is possible to suppress the position detection device 22 from performing position detection based on inaccurate correction information based on the satellite signal from the abnormal positioning satellite G.

[0218] In addition, the support system s1 of the work machine 1 includes a vehicle body communication device 21 provided on the work machine 1 and receiving the correction information generated by the generation unit 52g. The signal acquisition unit 52b, the generation unit 52g, and the selection unit 52c are provided in an external server (support device) 50 that communicates with the vehicle body communication device 21. The generation unit 52g generates correction information based on the satellite signal from the positioning satellite G selected by the selection unit 52c and the reference point RP of the base station 40 that received the satellite signal. The server 50 transmits the correction information generated by the generation unit 52g to the vehicle body communication device 21, and the vehicle body communication device 21 outputs the received correction information to the position detection device 22.

[0219] According to this configuration, since the server 50 with relatively high processing power selects the positioning satellite G, the selection of the positioning satellite G can be performed quickly and reliably.

[0220] In addition, the support system s1 of the work machine 1 includes a vehicle body communication device 21 provided on the work machine 1 and receiving the correction information generated by the generation unit 52g. The signal acquisition unit 52b and the generation unit 52g are provided in an external server 50 that communicates with the vehicle body communication device 21. The selection unit is provided in the vehicle body communication device 21. Among the correction information generated by the generation unit 52g, the correction information based on the satellite signal from the selected positioning satellite G and the reference point RP of the base station 40 that received the satellite signal is output to the position detection device 22.

[0221] According to this configuration, the vehicle body communication device 21 outputs, to the position detection device 22, the correction information corresponding to the positioning satellite G selected by the selection unit among the correction information already received. Therefore, the position detection device 22 can detect the position of the work machine 1 using relatively new correction information.

[0222] In addition, the support system s1 of the work machine 1 includes a mobile terminal 30 that can communicate with the server 50 and the vehicle body communication device 21. The vehicle body communication device 21 receives correction information from the server 50 via the mobile terminal 30.

[0223] According to this configuration, even if the vehicle body communication device 21 cannot directly communicate with the server 50, it can indirectly communicate with the server 50 via the mobile terminal 30.

[0224] In addition, as a predetermined condition, the selection unit 52c determines whether the health information of the positioning satellite G that transmitted the satellite signal included in the satellite signal is normal.

[0225] According to this configuration, based on the satellite signal, it is possible to easily determine whether the positioning satellite G that transmitted the satellite signal is abnormal.

[0226] In addition, as a predetermined condition, the selection unit 52c determines whether the second calculated distance between the positioning satellite G and the base station 40 calculated based on the satellite signal is appropriate with respect to the first calculated distance between the positioning satellite G and the base station 40 calculated based on the position of the positioning satellite G that transmitted the satellite signal and the position of the reference point RP of the base station 40.

[0227] According to this configuration, the selection unit 52d can determine that there is some defect in the satellite signal from the positioning satellite G, and can exclude the positioning satellite G that transmits the satellite signal used for generating the correction information from the positioning satellite G. Therefore, the position detection accuracy of the position detection based on the correction information can be improved.

[0228] Among the plurality of positioning satellites G included in the satellite positioning system s2, when the number of positioning satellites G that do not satisfy the predetermined condition changes from equal to or more than the threshold value to less than the threshold value, the selection unit 52c sequentially selects from the positioning satellites G that satisfy the predetermined condition.

[0229] According to this configuration, it is possible to suppress a large fluctuation in the number of positioning satellites G that transmit the satellite signal used for generating the correction information in a short time. Thereby, it is possible to suppress a change in the positioning state such as a change in the detected position by selecting the positioning satellites G included in the satellite positioning system s2 that have not been selected.

[0230] In addition, the support system s1 of the working machine 1 includes a determination unit 52i1 that determines the position detection accuracy, which is the accuracy of position detection based on the correction information generated by the generation unit 52g, and a notification device 30 that notifies that the position detection accuracy is relatively low when the determination unit 52i1 determines that the position detection accuracy is relatively low.

[0231] According to this configuration, the operator can easily grasp that the accuracy of position detection based on the correction information is relatively low.

[0232] In addition, the generation unit 52g generates, as correction information, first correction information based on the satellite signals received by the base station 40 and the reference point RP of the base station 40, and second correction information including virtual reference points VRP based on the satellite signals received by three or more predetermined base stations 40 among the plurality of base stations 40 and the reference points RP of the three or more base stations 40.

[0233] According to this configuration, the working machine 1 can perform position detection with relatively high accuracy by position detection (RRS-GNSS method) using the first correction information based on the reference point RP of the base station 40 and position detection (VRS-GNSS method) using the second correction information based on the virtual reference point VRP. position detection.

[0234] In addition, the support system s1 of the working machine 1 includes a selection unit 52d that selects either the first correction information or the second correction information generated by the generation unit 52g. The selection unit 52d selects the correction information according to the positional relationship between the polygon area E formed by connecting the reference points RP of three or more base stations 40 and the working machine 1.

[0235] According to this configuration, it is possible to appropriately select position detection (RRS-GNSS method) using the first correction information based on the reference point RP of the base station 40 and position detection using the second correction information based on the virtual reference point VRP.

[0236] Also, when the working machine 1 is located inside the area E, the selection unit 52d preferentially selects the satellite signals received by three or more base stations 40 and the second correction information based on the reference points RP of the three or more base stations 40.

[0237] According to this configuration, when the working machine 1 is located inside the area E, if position detection is performed by the VRS-GNSS method, the second correction information can be generated by interpolation, and high position detection accuracy can be maintained.

[0238] Also, when the respective distances D1 of the reference points RP of three or more base stations 40 are less than the first distance d1, the selection unit 52d preferentially selects the satellite signals received by the three or more base stations 40 and the second correction information based on the reference points RP of the three or more base stations 40.

[0239] According to this configuration, when the respective distances D1 of the reference points RP of the three base stations 40 are less than the first distance d1 and the area E is relatively small, position detection using the second correction information becomes possible, and high position detection accuracy can be maintained.

[0240] Also, when the relative distance between the reference point RP of the base station 40 closest to the working machine 1 among the reference points RP of three or more base stations 40 and the working machine 1 is less than a predetermined second distance d2, the selection unit 52d preferentially selects the first correction information based on the satellite signal received by the base station 40 closest to the working machine 1.

[0241] According to this configuration, even if the area E is relatively large, when the relative distance between the reference point RP of the base station 40 and the working machine 1 is less than the second distance d2 and the working machine 1 is located relatively close to the base station 40, by complementarily using the RRS-GNSS method instead of the VRS-GNSS method, the working machine 1 can perform position detection with relatively high accuracy.

[0242] Further, when the work machine 1 is located inside the area E, the respective distances D1 of the reference points RP of three or more base stations 40 are equal to or greater than the first distance d1, and among the reference points RP of the three or more base stations 40, the relative distance between the reference point RP of the base station 40 closest to the work machine 1 and the work machine 1 is equal to or greater than a predetermined second distance d2, the selection unit 52d preferentially selects the satellite signals received by the three or more base stations 40 and the second correction information based on the reference points RP of the three or more base stations 40. In such a case, the notification device 30 notifies that the position detection accuracy corresponding to the second correction information is relatively low.

[0243] According to this configuration, even when the area E is relatively large, since the work machine 1 is located relatively far from the base station 40, by adopting position detection by the VRS-GNSS method, position detection can be performed relatively well compared to the RRS-GNSS method. In addition, the operator can easily recognize that the position detection accuracy is relatively low.

[0244] Further, when the work machine 1 is located outside the area E and the relative distance between the reference point RP of the base station 40 closest to the work machine 1 and the work machine 1 among the reference points RP of the three or more base stations 40 is equal to or greater than a predetermined second distance d2, the notification device 30 notifies that the position detection accuracy corresponding to the first correction information is relatively low.

[0245] According to this configuration, when performing position detection by the VRS-GNSS method, the second correction information is generated by estimation using the extrapolation method instead of the interpolation method. Since the relative distance between the work machine 1 and the base station 40 is relatively large, there is a possibility that the position detection accuracy by the first correction information may decrease. Therefore, the operator can easily recognize that the position detection accuracy is relatively low in such a case.

[0246] Further, the support system s1 of the work machine 1 includes a definition unit 52e that defines the first distance d1 according to the content of the work of the work machine 1.

[0247] According to this configuration, it is possible to select optimal correction information according to the content of the work performed by the work machine 1, that is, according to the required position detection accuracy.

[0248] In addition, the support system s1 of the work machine 1 includes a defining unit 52e that defines a second distance d2 according to the content of the work of the work machine 1.

[0249] According to this configuration, it is possible to select optimal correction information according to the content of the work performed by the work machine 1, that is, according to the required position detection accuracy.

[0250] In addition, the support method for the work machine 1 according to one aspect of the present invention includes a first step in which a selection unit 52c selects one or a plurality of positioning satellites G from among a plurality of positioning satellites G included in a plurality of satellite positioning systems s2, a second step in which a generation unit 52g generates correction information based on satellite signals received by a plurality of base stations 40 provided at a predetermined reference point RP from the positioning satellites G, respectively, and the reference point RP of the base station 40, and a third step in which a position detection device 22 detects the position of the work machine 1 using the correction information generated in the second step based on the satellite signals from the positioning satellites G selected in the first step and the reference point RP of the base station 40 that has received the satellite signals. In the first step, when the number of positioning satellites G that do not satisfy a predetermined condition and are determined to be abnormal among the plurality of positioning satellites G included in the satellite positioning system s2 is equal to or greater than a predetermined threshold, the selection unit 52c does not select the plurality of positioning satellites G included in the satellite positioning system s2.

[0251] According to this configuration, even when it is determined whether each positioning satellite G is normal, there may actually be an abnormality in the positioning satellite G. However, since the selection unit 52c does not select the positioning satellite G that transmits the satellite signal used for generating the correction information in units of the satellite positioning system s2, it is possible to suppress the position detection device 22 from performing position detection based on inaccurate correction information from the satellite signal from the abnormal positioning satellite G.

[0252] In addition, a support system s1 for a work machine 1 according to an aspect of the present invention includes an acquisition unit that acquires satellite signals from positioning satellites G received by a plurality of base stations 40 provided at respective predetermined reference points RP, a generation unit 52g that generates first correction information based on the satellite signals received by the base stations 40 and the reference points RP of the base stations 40, and generates second correction information including a virtual reference point VRP based on the satellite signals received by three or more predetermined base stations 40 among the plurality of base stations 40 and the reference points RP of the three or more base stations 40, a selection unit 52d that selects either the first correction information or the second correction information from among the first correction information and the second correction information generated by the generation unit 52g, and a position detection device 22 that detects the position of the work machine 1 based on the correction information generated by the generation unit 52g. The selection unit 52d selects correction information for each work area H in which the work machine 1 performs work.

[0253] According to this configuration, the selection unit 52d selects appropriate correction information for each work area H. That is, when the work machine 1 moves within the work area H, the correction information does not frequently switch between the first correction information and the second correction information. As a result, the work machine 1 can perform highly accurate position detection, and it is possible to suppress a change in the positioning state such that the detected position fluctuates due to the switching of the correction information.

[0254] Further, the selection unit 52d selects correction information based on predetermined conditions at respective positions of predetermined regions obtained by dividing the work area H into a predetermined range, and selects, for each work area H, the correction information having a larger selected area within the work area H.

[0255] According to this configuration, the selection unit 52d can appropriately reflect the correction information selected based on the conditions for each work area H. For this reason, the transmission unit can appropriately transmit the correction information corresponding to the conditions of the selection unit 52d to the work machine 1.

[0256] In addition, the work area H is predefined based on the farm field where the work machine 1 performs work.

[0257] According to this configuration, when the working machine 1 performs work in the field, it is possible to suppress a change in the positioning state such as a fluctuation in the detected position without frequently switching the correction information between the first correction information and the second correction information.

[0258] Further, the work area H is defined in advance based on the outline of the field.

[0259] According to this configuration, when the working machine 1 performs work in the field, it is possible to more reliably suppress frequent switching of the correction information between the first correction information and the second correction information.

[0260] Further, the work area H is defined in advance as a work area where the working machine 1 performs a series of operations.

[0261] According to this configuration, during the period when the working machine 1 is performing a series of operations, it is possible to suppress a change in the positioning state such as a fluctuation in the detected position without frequently switching the correction information between the first correction information and the second correction information.

[0262] Further, the work area H is defined in advance as a travel area where the working machine 1 performs automatic travel, before performing the automatic travel.

[0263] According to this configuration, during the period when the working machine 1 is performing automatic travel, it is possible to suppress a change in the positioning state such as a fluctuation in the detected position without frequently switching the correction information between the first correction information and the second correction information.

[0264] Further, when the working machine 1 enters or exits the work area H, the selection unit 52d selects the correction information corresponding to the work area H where the working machine 1 is located.

[0265] According to this configuration, it is possible to surely suppress switching of the correction information when the working machine 1 is moving within the work area H.

[0266] Further, the selection unit 52d selects correction information according to the positional relationship between the polygon area E formed by connecting the reference points RP of three or more base stations 40 and the working machine 1.

[0267] According to this configuration, it is possible to appropriately select the position detection (RRS-GNSS method) using the first correction information based on the reference point RP of the base station 40 and the position detection using the second correction information based on the virtual reference point VRP. It can be selected appropriately.

[0268] When the working machine 1 is located inside the area E, the selection unit 52d preferentially selects the satellite signals received by three or more base stations 40 and the second correction information based on the reference points RP of three or more base stations 40.

[0269] According to this configuration, when the working machine 1 is located inside the area E, the second correction information can be generated by the interpolation method when performing position detection by the VRS-GNSS method, and high position detection accuracy can be maintained.

[0270] When the respective distances D1 of the reference points RP of three or more base stations 40 are less than the first distance d1, the selection unit 52d preferentially selects the satellite signals received by the three or more base stations 40 and the second correction information based on the reference points RP of the three or more base stations 40.

[0271] According to this configuration, when the respective distances D1 of the reference points RP of the three base stations 40 are less than the first distance d1 and the area E is relatively small, position detection using the second correction information becomes possible, and high position detection accuracy can be maintained.

[0272] Further, the selection unit 52d preferentially selects the first correction information based on the satellite signals received by the base station 40 closest to the working machine 1.

[0273] According to this configuration, if both the first correction information and the second correction information are satisfied, by selecting the first correction information, the processing load of the generation unit 52g for generating the second correction information can be reduced.

[0274] Further, among the reference points RP of three or more base stations 40, when the relative distance between the reference point RP of the base station 40 closest to the work machine 1 and the work machine 1 is less than a predetermined second distance d2, the selection unit 52d preferentially selects the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1.

[0275] According to this configuration, even if the area E is relatively large, when the relative distance between the reference point RP of the base station 40 and the work machine 1 is less than the second distance d2 and the work machine 1 is located relatively close to the base station 40, by complementarily using the RRS-GNSS method instead of the VRS-GNSS method, the work machine 1 can perform position detection with relatively high accuracy.

[0276] Also, when the work machine 1 is located inside the area E, the respective distances D1 of the reference points RP of three or more base stations 40 are equal to or greater than the first distance d1, and the relative distance between the reference point RP of the base station 40 closest to the work machine 1 among the reference points RP of three or more base stations 40 and the work machine 1 is equal to or greater than a predetermined second distance d2, the selection unit 52d preferentially selects the satellite signals received by the three or more base stations 40 and the second correction information based on the reference points RP of the three or more base stations 40.

[0277] According to this configuration, even if the area E is relatively large, since the work machine 1 is located relatively far from the base station 40, by adopting position detection by the VRS-GNSS method, position detection can be performed relatively well as compared with the RRS-GNSS method.

[0278] Further, the support system s1 of the work machine 1 includes a definition unit 52e that defines the first distance d1 according to the content of the work of the work machine 1.

[0279] According to this configuration, it is possible to select optimal correction information according to the content of the work performed by the work machine 1, that is, according to the required position detection accuracy.

[0280] Further, the support system s1 of the working machine 1 includes a definition unit 52e that defines a second distance d2 according to the content of the work of the working machine 1.

[0281] According to this configuration, optimal correction information can be selected according to the content of the work performed by the working machine 1, that is, according to the required position detection accuracy.

[0282] Further, when the position detection accuracy, which is the accuracy of position detection based on the selected correction information, is less than a predetermined height, the selection unit 52d selects, instead of the correction information, correction information that has a height or more in position detection accuracy and is used in another working machine 1A around the working machine 1.

[0283] According to this configuration, even when the position detection accuracy decreases due to factors other than the predetermined conditions, the position detection device 22 can detect the position of the working machine 1 with correction information that is appropriately position-detected by a neighboring working machine 1.

[0284] Further, when the selection unit 52d has a record of selecting a plurality of different correction information in the work area H, it selects correction information with a high position detection accuracy based on the position detection accuracy of each correction information.

[0285] According to this configuration, even when a temporary misdetection occurs, the selection unit 52d can select the optimal correction information in the work area H.

[0286] Further, the support system s1 of the working machine 1 includes a control device 23 that is provided in the working machine 1 and controls the automatic driving of the working machine 1 based on the position of the working machine 1 detected by the position detection device 22 and a predetermined planned travel route L created on a map showing the work area H.

[0287] According to this configuration, since a relatively high position detection accuracy can be maintained, the control device 23 can perform accurate automatic driving control based on the position of the working machine 1 and the planned travel route L.

[0288] Further, a support method for the work machine 1 according to one aspect of the present invention includes: a first step in which a selection unit 52d selects either satellite signals from positioning satellites G received at a base station 40 and first correction information based on a reference point RP of the base station 40 that has received the satellite signals, and satellite signals received at three or more predetermined base stations 40 and second correction information including a virtual reference point VRP based on reference points RP of the three or more base stations 40; a second step in which a generation unit 52g generates the correction information selected in the first step; and a third step in which a position detection device 22 detects the position of the work machine 1 based on the correction information generated by the generation unit 52g in the second step. The selection unit 52d selects correction information for each work area H where the work machine 1 performs work in the first step.

[0289] According to this configuration, appropriate correction information is selected for each work area H by the selection unit 52d. That is, when the work machine 1 moves within the work area H, the correction information does not frequently switch between the first correction information and the second correction information. As a result, the work machine 1 can perform highly accurate position detection, and it is possible to suppress a change in the positioning state such as a fluctuation in the detected position due to a switch in the correction information.

[0290] Although the present invention has been described above, it should be considered that the disclosed embodiments are illustrative in all respects and not restrictive. The scope of the present invention is defined not by the above description but by the claims, and it is intended that all modifications within the meaning and scope equivalent to the claims be included.

Explanation of Reference Numerals

[0291] 1: Work machine 21: Vehicle body communication device 22: Position detection device 30: Notification device (portable terminal) 40: Base station 52b: Signal acquisition unit 52c: Selection unit 52d: Selection unit 52e: Definition unit 52g: Generation unit 52i1: Determination Unit D1: Distance E: Area G: Positioning Satellite RP: Reference Point S1: Support System S2: Satellite Positioning System VRP: Virtual Reference Point d1: First Distance d2: Second Distance

Claims

1. A selection unit for selecting one or more positioning satellites from among a plurality of positioning satellites having a plurality of satellite positioning systems, A position detection device capable of receiving satellite signals from the positioning satellite, the device detecting the position of a work machine using the satellite signals from the positioning satellite selected by the selection unit, the satellite signals received by a plurality of base stations each provided at predetermined reference points, and correction information generated based on the reference points of the base stations, A notification device that notifies status information indicating the status of the positioning satellite, A support system for work machines equipped with this system.

2. The support system for a work machine according to Claim 1, wherein the notification device provides notification of a positioning satellite among a plurality of positioning satellites owned by the satellite positioning system that does not meet predetermined conditions and is determined to be abnormal, and / or the satellite positioning system that owns the positioning satellite.

3. The support system for a work machine according to claim 1, wherein the notification device has a display screen capable of displaying the status information.

4. The support system for a work machine according to claim 3, wherein the display screen displays a positioning satellite that does not meet a predetermined condition and is determined to be abnormal, and / or the satellite positioning system having the positioning satellite, among a plurality of positioning satellites having the satellite positioning system.

5. The support system for a work machine according to claim 3, wherein the display screen simultaneously displays the positioning satellites selected by the selection unit and the positioning satellites not selected by the selection unit.

6. The support system for a work machine according to claim 5, wherein the display screen displays the arrangement of the positioning satellites from which the position detection device is receiving the satellite signals, and displays the positioning satellites selected by the selection unit and the positioning satellites not selected by the selection unit in different display formats.

7. The support system for a work machine according to claim 3, wherein the display screen displays instruction information indicating an instruction to suppress the occurrence of an abnormality including at least one of multipath and interference waves as the status information.

8. The support system for a work machine according to any one of claims 1 to 7, wherein the selection unit does not select a positioning satellite that is determined to be abnormal because it does not meet the predetermined conditions.

9. The support system for a work machine according to claim 8, wherein the selection unit determines, as a predetermined condition, whether or not the health information of the positioning satellite that transmitted the satellite signal included in the satellite signal is normal.

10. The support system for a work machine according to claim 8, wherein the selection unit determines whether the second calculated distance between the positioning satellite and the base station, calculated based on the satellite signal, is appropriate to the first calculated distance between the positioning satellite and the base station, calculated based on the position of the positioning satellite that transmitted the satellite signal and the position of the base station's reference point, as a predetermined condition.

11. A first step in which the selection unit selects one or more positioning satellites from among a plurality of positioning satellites having a plurality of satellite positioning systems, A position detection device receives a satellite signal from the positioning satellite and detects the position of the work machine using the satellite signal from the positioning satellite selected in the first step, the satellite signal received by a plurality of base stations each provided at a predetermined reference point, and correction information generated based on the reference point of the base station. The notification device provides status information indicating at least the status of the positioning satellite in a third step, A method of assisting a work machine, including the machine itself.

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