Working machine

Abstract

To provide a working machine capable of highly accurate and stable positioning correction.SOLUTION: A vehicle includes a vehicle body capable of traveling, a driver's seat, a positioning device configured to acquire position information from a positioning satellite, a correction information communication device wirelessly connected to an external communication network, and a control device configured to correct an error of the position information based on position correction information acquired from the external communication network, wherein the correction information communication device is disposed around the driver's seat.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a work machine equipped with a positioning function. [Background technology]

[0002] In recent years, in order to achieve more accurate autonomous driving, there has been progress in the development of work machines that correct errors contained in GNSS (Global Navigation Satellite System) positioning information based on position correction information obtained from an external communication network by a correction information communication device, and set a target driving path. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-85800 Summary of the Invention [Problem to be solved by the invention]

[0004] However, because conventional work machines often use materials with low radio wave permeability, such as steel plates, communication conditions can be unstable depending on the installation position of the correction information communication device, making it impossible to perform highly accurate positioning correction. Furthermore, conventional work machines do not have a fixed installation position for the correction information communication device, and depending on the installation state of the correction information communication device, vibrations of the vehicle body while driving can cause the correction information communication device to come into contact with surrounding structures, or an overload can be placed on the communication harness connecting the correction information communication device and the control device, resulting in a malfunction of the communication function.

[0005] The present invention has been made in consideration of the above problems, and has an object to provide a work machine that is capable of highly accurate and stable position correction. [Means for solving the problem]

[0006] The present invention employs the following technical means to achieve the above object.

[0007] A work machine according to one embodiment of the present invention comprises a drivable vehicle body, a driver's seat, a positioning device that acquires position information from a positioning satellite, a correction information communication device that wirelessly connects to an external communication network, and a control device that corrects errors in the position information based on position correction information acquired from the external communication network, and the correction information communication device is arranged around the driver's seat.

[0008] The correction information communication device may be disposed below the driver's seat.

[0009] The vehicle body may have a base portion supporting the driver's seat, and the correction information communication device may be disposed inside the base portion.

[0010] The base may have a radio wave transparent cover member, and the correction information communication device may be disposed adjacent to the cover member.

[0011] The cover member may be provided at the front of the base.

[0012] The correction information communication device has a communication unit and a communication device main body that transfers the position correction information received by the communication unit to the control device, and the correction information communication device may be arranged with at least the communication unit adjacent to the cover member.

[0013] The vehicle may include a control device, the control device being provided in front of the driver's seat, and the correction information communication device being located below the control device.

[0014] The control device may have an operation panel that covers a lower portion of the control device, and at least a portion of the operation panel may be made of a radio wave transparent plate material.

[0015] The correction information communication device has a communication unit and a communication device main body that transfers the position correction information received by the communication unit to the control device, and the correction information communication device may be arranged with at least the communication unit adjacent to the operation panel.

[0016] The correction information communication device may be a wireless communication device that is wirelessly connected to a wireless communication terminal and is wirelessly connectable to the external communication network via the wireless communication terminal.

[0017] The correction information communication device may be a wireless communication device that can be directly connected wirelessly to the external communication network. [Effects of the Invention]

[0018] According to the present invention, a stable communication state can be maintained at all times, and therefore a work machine capable of highly accurate and stable position correction can be provided. [Brief explanation of the drawings]

[0019] [Figure 1] FIG. 1 is a schematic diagram of a positioning support system. [Figure 2] 1 is a left side view of a working machine according to an embodiment of the present invention. FIG. [Figure 3] 1 is a top view of a working machine according to an embodiment of the present invention; [Figure 4] 1 is a perspective view of a working machine according to an embodiment of the present invention; [Figure 5] FIG. [Figure 6] FIG. [Figure 7] FIG. 2 is a bottom perspective view showing the inside of the base portion. [Figure 8] FIG. 2 is a partially exploded perspective view of the correction information communication device and its surroundings. [Figure 9] FIG. 10 is a left side view of the configuration of the area around the driver's seat of the work machine of the first modified example. [Figure 10] FIG. 10 is a left side view of the configuration of the area around the driver's seat of a work machine according to a second modified example. [Figure 11]FIG. 11 is a left side view of the configuration of the area around the driver's seat of a work machine according to a third modified example. [Figure 12] FIG. 11 is a left side view of the configuration of the area around the driver's seat of a work machine according to a fourth modified example. DETAILED DESCRIPTION OF THE INVENTION

[0020] An embodiment of the present invention will be described with reference to the drawings. A work machine 1 of this embodiment has an autonomous driving function. As shown in Fig. 1, the work machine 1 is equipped with a positioning device 40, a correction information communication device 50, and a control device 60, and can set a target driving route based on position information (positioning information) acquired by the positioning device 40 and perform autonomous driving according to the target driving route.

[0021] Specifically, the positioning device 40 acquires position information (positioning information including latitude and longitude) from a satellite positioning system such as GPS (Global Positioning System), GLONASS (Global Navigation Satellite System), Michibiki (QZSS: Quasi-Zenith Satellite System), Galileo, or Beidou. The positioning device 40 includes a satellite communication device 41 and a measurement device 42. The satellite communication device 41 receives satellite signals transmitted from positioning satellites G (positioning information such as the position of the positioning satellites G and the transmission time). The measurement device 42 measures the position (e.g., latitude and longitude) of the aircraft based on the satellite signals received by the satellite communication device 41. In this way, the positioning device 40 receives the satellite signals transmitted from the positioning satellites G and detects the position of the aircraft based on the satellite signals.

[0022] The positioning device 40 of this embodiment is an antenna-integrated positioning device in which a satellite communication device 41 and a measurement device 42 are incorporated inside a common casing, and is disposed in the upper front part of the roof 17 of the cabin 8. Note that the location of the positioning device 40 is not limited to the upper front part of the roof 17, as long as the positioning device 40 can always stably receive satellite signals transmitted from the positioning satellite G.

[0023] For example, the positioning device 40 may be disposed at the rear of the cabin 8 or at the front of the vehicle body 2. Furthermore, in a vehicle equipped with a canopy instead of the cabin 8 as a protective device for the driver's seat 4, the positioning device 40 may be disposed on the top of the roof of the canopy, or at the front or rear of the roof. Furthermore, in a vehicle equipped with a safety net as a protective device for the driver's seat 4, the positioning device 40 may be disposed on the upper frame of the safety net.

[0024] The correction information communication device 50 is a device that is wirelessly connected to an external communication network N and acquires position correction information from a positioning support system S. The correction information communication device 50 has a communication unit 51 and a communication device main body 52. ​​The correction information communication device 50 of this embodiment is an antenna-integrated communication device in which the communication unit 51 and the communication device main body 52 are incorporated inside a common casing. Note that the correction information communication device 50 may also be an antenna-separate communication device in which the communication unit 51 and the communication device main body 52 are configured as separate entities.

[0025] The communication unit 51 of this embodiment is wirelessly connected to a wireless communication terminal P, such as a portable information terminal carried by the driver or an in-vehicle information terminal (operation terminal) mounted on the vehicle body 2, by short-range wireless communication such as Wi-Fi (registered trademark) or Bluetooth (registered trademark), and connects to an external communication network N using the communication function of the wireless communication terminal P. In other words, the correction information communication device 50 of this embodiment is a wireless communication device (wireless router) that is wirelessly connected to the wireless communication terminal P and can be wirelessly connected to the external communication network N via the wireless communication terminal P.

[0026] The correction information communication device 50 may be an in-vehicle wireless communication device that can be directly wirelessly connected to the external communication network N from a communication base station such as a telephone communication network of a telephone line carrier or a data communication network of an internet line carrier, instead of the above-mentioned short-range wireless communication. That is, the communication unit 51 is directly wirelessly connected to the external communication network N through the communication base station such as the above-mentioned telephone communication network or data communication network.

[0027] The positioning support system S comprises a positioning base station S1 and a support device S2. Multiple positioning base stations S1 are installed at predetermined reference points such as on the roofs of buildings or around farm fields, and transmit satellite signals received from positioning satellites G to the support device S2 via an external communication network N. The support device S2 is a fixed computer terminal (server) installed at an agricultural machinery manufacturer, an agricultural cooperative, a management company, etc., and transmits observation information and position correction information based on the satellite signals received from the positioning base station S1 to the outside via the external communication network N.

[0028] The control device 60 is an ECU (Electronic Control Unit) that controls the operation of the traveling device 3, the prime mover 6, etc., and has a route setting unit that corrects errors in the positioning information acquired by the positioning device 40 based on position correction information acquired by the correction information communication device 50, sets a target traveling route for the work machine 1, and a traveling control unit that automatically controls the traveling of the work machine 1 according to the above-mentioned target traveling route.

[0029] 2 and 3, the work machine 1 of this embodiment is a tractor, and includes a body 2, a traveling device 3, a driver's seat 4, a steering device 5, a motor 6, a bonnet 7, and a cabin 8 as a protection device for the driver's seat 4. Note that the work machine 1 according to the present invention is not limited to a tractor.

[0030] For example, the work machine 1 according to the present invention may be an agricultural machine other than a tractor, a construction machine, a transport machine, a utility vehicle, etc. Alternatively, the work machine 1 according to the present invention may be a narrow tractor or a pesticide sprayer, etc., having a narrow tread on the traveling device 3, suitable for traveling on relatively narrow roads such as between trees in an orchard or between furrows in a field. Furthermore, the work machine 1 according to the present invention may be provided with a canopy or ropes instead of the cabin 8 as a protection device for the driver's seat 4.

[0031] In the following description, the length direction of the vehicle body 2 (the direction indicated by arrows X1 and X2 in Figures 2 to 4) will be referred to as the front-to-rear direction, the width direction of the vehicle body 2 (the direction indicated by arrows Y1 and Y2 in Figures 3 and 4) as the left-to-right direction, and the height direction of the vehicle body 2 (the direction indicated by arrows Z1 and Z2 in Figures 2 and 4) as the up-to-down direction.

[0032] The vehicle body 2 is formed by combining a metal frame material, a casing (transmission case) of a drive transmission device, etc. In this embodiment, the front half of the vehicle body 2 is made up of a frame material that is long in the front-rear direction. The rear half of the vehicle body 2 is made up of a transmission case. The vehicle body 2 is supported by a traveling device 3 so that it can travel.

[0033] The traveling devices 3 support the vehicle body 2 so that it can travel. In this embodiment, the traveling devices 3 are wheels that are rotatably provided on the vehicle body 2. The traveling devices 3 include front wheels 3F provided on the left and right at the front of the vehicle body 2, and rear wheels 3R ​​provided on the left and right at the rear of the vehicle body 2. Either or both of the front wheels 3F and the rear wheels 3R ​​are steered by a steering device 5.

[0034] The work machine 1 of this embodiment is a two-wheel drive vehicle that travels by driving the rear wheels 3R, and a two-wheel steering vehicle that travels by steering the front wheels 3F. The work machine 1 may be a four-wheel drive vehicle that travels by driving both the front wheels 3F and the rear wheels 3R, or a four-wheel steering vehicle that travels by steering both the front wheels 3F and the rear wheels 3R. Furthermore, of the travelling devices 3 of the work machine 1, either or both of the front wheels 3F and the rear wheels 3R ​​may be crawlers.

[0035] The driver's seat 4 is provided at the upper rear part of the vehicle body 2. As shown in Figs. 2 and 4, a base 11 is provided at the upper rear part of the vehicle body 2, and the driver's seat 4 is provided at the top of the base 11. The driver's seat 4 is provided inside the cabin 8 between the left and right side windows W2.

[0036] As shown in FIG. 2, the control device 5 is provided at the upper rear of the vehicle body 2. The control device 5 is located in front of the driver's seat 4. The control device 5 is provided adjacent to the windshield W1 inside the cabin 8. As shown in FIG. 6, the control device 5 has a handle (steering wheel) 12 and a control mechanism unit 13 that steers the traveling device 3 (front wheels 3F in this embodiment) in accordance with the rotation of the handle 12. The control mechanism unit 13 is covered with an operation panel 14.

[0037] As shown in Figures 2 and 3, the prime mover 6 is provided in the upper front part of the vehicle body 2. The prime mover 6 is housed inside the hood 7. In this embodiment, the prime mover 6 is a diesel engine. The prime mover 6 may be a gasoline engine or a hydrogen engine driven by the combustion energy of hydrogen gas. Alternatively, the prime mover 6 may be an electric motor driven by power generated by a fuel cell or power charged in a battery from an external power source, or may be a hybrid prime mover configured by combining an engine and an electric motor.

[0038] The cabin 8 is a protection device that protects the driver's seat 4. In detail, as shown in Figs. 2 and 4, the cabin 8 is a box-shaped structure that surrounds the front, rear, left, right, and top of the driver's seat 4, and has pillars 15, panels 16, and a roof 17. The pillars 15 are columnar frames. The pillars 15 are erected at positions in front of and behind the driver's seat 4, spaced apart in the left-right direction. That is, the pillars 15 form protective frames for the front, rear, left, and right corners of the cabin 8. The roof 17 is supported on the upper ends of these four pillars 15.

[0039] The panels 16 include a front panel 16A, left and right side panels 16B, and a rear panel 16C. The front panel 16A is provided between two pillars 15 aligned left and right in front of the driver's seat 4, and constitutes a front window W1 of the cabin 8. The side panels 16B are provided between two pillars 15 aligned front and rear on the left and right sides of the driver's seat 4, respectively, and constitute left and right side windows W2 of the cabin 8. The rear panel 16C is provided between two pillars 15 aligned left and right behind the driver's seat 4, and constitutes a rear window W3 of the cabin 8. Each of these window sections W1, W2, W3 is made of a transparent material, such as glass, that has excellent radio wave transmittance.

[0040] As shown in FIG. 5, a console 18 is provided inside the cabin 8. The consoles 18 are provided on the left and right sides of the driver's seat 4 above the base 11. That is, the consoles 18 are disposed on both the left and right sides of the driver's seat 4. A plurality of operating devices 19, such as operating buttons and operating levers, are provided on the top of the console 18. In this way, the control device 5, base 11, and console 18 are disposed around the driver's seat 4 inside the cabin 8.

[0041] The base 11 has a seat adjustment device 20, an opening 21, and a cover member 22. The seat adjustment device 20 movably connects and supports the driver's seat 4 to the base 11. More specifically, the seat adjustment device 20 of this embodiment has a slide device that moves the driver's seat 4 in the front-to-rear direction within a predetermined range relative to the upper part of the base 11. That is, the driver's seat 4 is connected and supported to the upper part of the base 11 so as to be able to slide (slide) back and forth within a predetermined range.

[0042] Note that, instead of or in addition to the above-mentioned sliding device, the seat adjustment device 20 may have a lift device that moves the driver's seat 4 up and down within a predetermined range relative to the upper part of the pedestal 11, or a swivel device that rotates the driver's seat 4 left and right within a predetermined angular range. That is, instead of or in addition to the above-mentioned sliding operation, the driver's seat 4 may be connected and supported to be able to move up and down (lift operation) within a predetermined range relative to the upper part of the pedestal 11, or may be connected and supported to be able to rotate left and right (swivel operation) within a predetermined angular range relative to the upper part of the pedestal 11.

[0043] The opening 21 is provided in a front plate portion (front base plate) 11A of the base 11. The opening 21 is formed to a size that allows the correction information communication device 50 to be inserted into the internal space of the base 11 from the front.

[0044] The cover member 22 covers the opening 21 of the base front plate 11A from the front. The cover member 22 is a plate large enough to cover the entire opening 21, and is fixed to the periphery of the opening 21 in the base front plate 11A with screws. The cover member 22 is made of a synthetic resin material that has excellent radio wave transparency. Note that the cover member 22 may be made at least in part or entirely from a metal plate material.

[0045] 7 and 8, the cover member 22 has a support plate 23. The support plate 23 is a flat plate that extends rearward from the rear surface of the cover member 22, approximately parallel to the upper plate portion (upper base plate) 11B of the base 11. The support plate 23 is disposed below the upper base plate 11B with a predetermined gap therebetween. The correction information communication device 50 is fixed to the support plate 23. The correction information communication device 50 may be fixed to the cover member 22.

[0046] As shown in FIG. 2, the correction information communication device 50 is stored inside the base 11. That is, the correction information communication device 50 is disposed below the driver's seat 4. If a protective device for the driver's seat 4 is provided on the vehicle body 2 with a rope, the area around the driver's seat 4 may be exposed to direct sunlight and wind and rain for long periods of time. However, as described above, if the correction information communication device 50 is stored inside the base 11, the correction information communication device 50 can be prevented from being exposed to direct sunlight, becoming overheated, or being submerged in water. Furthermore, if the correction information communication device 50 is located below the driver's seat 4, sufficient space can be secured to place the correction information communication device 50, even in a narrow work vehicle such as the one described above.

[0047] As described above, the correction information communication device 50 of this embodiment is an antenna-integrated communication device. Therefore, the communication unit 51 of the correction information communication device 50 is stored inside the base 11 together with the communication device main body 52. ​​The casing of the correction information communication device 50, like the cover member 22 of the base 11, is made of a synthetic resin material with excellent radio wave transparency.

[0048] 7, the correction information communication device 50 is disposed adjacent to the cover member 22. More specifically, the correction information communication device 50 is fixed with screws to a support plate 23 provided on the rear surface (inside the base 11) of the cover member 22. This allows the correction information communication device 50 to be removed from inside the base 11 when the cover member 22 is removed from the base front plate 11A for inspection or replacement.

[0049] If the correction information communication device 50 is a communication device with a separate antenna, at least the communication unit 51 of the correction information communication device 50 is disposed adjacent to the cover member 22. In this way, the communication device main body 52 can be provided in a position surrounded by a member that may interfere with wireless communication, such as the inner bottom or inner side of the base 11. This improves the degree of freedom in the placement of the communication unit 51 and the communication device main body 52.

[0050] The correction information communication device 50 has a connector 53 for connecting the communication cable L1. In this embodiment, the correction information communication device 50 is attached to the underside of the support plate 23 with the connector 53 facing to the right side of the base 11. This allows the correction information communication device 50 to be easily attached and detached from the communication cable L1 when inspecting or replacing it.

[0051] 3 and 5, the control device 60 is stored inside the right console 18. The control device 60 is stored in a position near the base 11 on the inner bottom of the console 18. In other words, the control device 60 is disposed below the driver's seat 4 together with the correction information communication device 50.

[0052] 7, a support frame 24 is erected on the inner bottom of the console 18, and the control device 60 is fixed with screws to the surface of the support frame 24 on the base 11 side. Therefore, the control device 60 is disposed near the correction information communication device 50. The control device 60 is also disposed adjacent to the connector 53 side of the correction information communication device 50. This allows the correction information communication device 50 to be connected to the control device 60 with a relatively short communication cable L1.

[0053] A sound absorbing material 31 is provided in the gap between the support plate 23 and the base upper plate 11B, i.e., between the correction information communication device 50 and the base upper plate 11B. A sound absorbing material 32 is also provided on the rear surface (inner surface) of the cover member 22, i.e., between the correction information communication device 50 and the cover member 22.

[0054] The sound absorbing materials 31 and 32 are made of an elastic material having shape retention. In addition to the effect of attenuating noise emitted from the device 50, the sound absorbing materials 31 and 32 also have the effect of attenuating vibrations of the correction information communication device 50 while the vehicle is moving. In addition, the sound absorbing materials 31 and 32 have heat insulating properties, and also suppress the transfer of heat from outside the base 11 to the correction information communication device 50.

[0055] 7 and 8, the correction information communication device 50 is covered by a heat-shielding cover 33. The heat-shielding cover 33 is formed in a box shape that covers the front, rear, left, right, and bottom surfaces of the casing of the correction information communication device 50, and is attached to the casing from below. In this way, the correction information communication device 50 is doubly insulated from heat by the sound-absorbing materials 31 and 32 and the heat-shielding cover 33. This allows the correction information communication device 50 to more effectively prevent overheating due to direct sunlight and exposure to water.

[0056] <Modification> In the work machine 1 of the above embodiment, the correction information communication device 50 is stored inside the base 11, but it may be fixed to the outer wall of the base 11. More specifically, for example, as shown in FIG. 9, the correction information communication device 50 may be fixed to a base front panel 11A that constitutes the outer wall of the base 11. Furthermore, if the surrounding space is relatively large and there are few components in the surrounding area that may interfere with wireless communication, the correction information communication device 50 may be provided on the side of the base 11 (for example, on the left wall of the base 11) as shown in FIG. 10, or may be provided on the rear of the base 11 (for example, the interior rear of the base 11) as shown in FIG. 11. Furthermore, in a work machine 1 equipped with a ROPS as a protection device for the driver's seat 4, the correction information communication device 50 may be installed around the driver's seat 4 while covered with a waterproof cover, or the casing of the correction information communication device 50 may be made waterproof and installed around the driver's seat 4.

[0057] In the work machine 1 of the above embodiment, the correction information communication device 50 is provided adjacent to the cover member 22 formed from a radio wave-transmitting material, but at least a portion of the outer wall of the base portion 11 (for example, the rear portion of the base upper plate 11B) may be formed from a material with excellent radio wave-transmitting properties, and the correction information communication device 50 may be provided adjacent to that wall portion (see Figure 11).

[0058] In the work machine 1 of the above embodiment, the correction information communication device 50 is disposed below the driver's seat 4. However, it may also be disposed below the control device 5. Specifically, as shown in FIG. 12 , the operation panel 14 disposed below the control device 5 is formed of a synthetic resin material with excellent radio wave transparency, and the correction information communication device 50 is fixed with screws to the inner surface (front surface) of the operation panel 14. That is, the correction information communication device 50 is disposed adjacent to the radio wave transparent operation panel 14. Note that in this modified example, if the correction information communication device 50 is a communication device with a separate antenna, at least the communication unit 51 of the correction information communication device 50 is disposed adjacent to the operation panel 14. For example, the communication unit 51 is fixed with screws to the inner surface of the operation panel 14. In this manner, the communication device main body 52 can be disposed in a location surrounded by members that may interfere with wireless communication, such as inside the control device 5 or under the floor of the cabin 8 below the control device 5. That is, the degree of freedom in arranging the communication unit 51 and the communication device main body 52 is improved.

[0059] The present invention provides a work machine 1 described in the following items.

[0060] (Item 1) The vehicle comprises a drivable vehicle body 2, a driver's seat 4, a positioning device 40 that acquires position information from a positioning satellite G, a correction information communication device 50 that is wirelessly connected to an external communication network N, and a control device 60 that corrects errors in the position information based on position correction information acquired from the external communication network N, and the correction information communication device 50 is connected to a work machine 1 that is arranged around the driver's seat 4.

[0061] A relatively large space is secured around the driver's seat 4 where the operator sits, and there are few components that may interfere with wireless communication. Therefore, according to the work machine 1 relating to this item 1, the correction information communication device 50 can maintain a stable communication state. This enables highly accurate and stable positioning correction.

[0062] Moreover, with the work machine 1 according to the above item 1, sufficient space can be secured around the correction information communication device 50, which prevents the correction information communication device 50 from coming into contact with surrounding structures due to vibrations of the vehicle body 2 while traveling, and prevents overloading of the communication cable L1 connecting the correction information communication device 50 and the control device 60. Therefore, malfunctions are less likely to occur in the correction information communication device 50 or the communication cable L1, enabling stable positioning correction over a long period of time.

[0063] (Item 2) The work machine (1) according to item 1, wherein the correction information communication device (50) is disposed below the driver's seat (4).

[0064] A larger space can be secured under the driver's seat 4 compared to the sides and rear of the driver's seat 4. Also, there are fewer components that may interfere with wireless communication compared to the sides and rear of the driver's seat 4. Therefore, according to the work machine 1 relating to this item 2, the correction information communication device 50 can maintain a more stable communication state. This allows for more stable positioning correction.

[0065] Moreover, according to the work machine 1 relating to this item 2, the correction information communication device 50 is disposed in a position relatively close to the swing center of the vehicle body 2, which more reliably prevents malfunctions of the correction information communication device 50 caused by vibrations of the vehicle body 2. This enables stable positioning correction over a long period of time.

[0066] (Item 3) The work machine 1 according to item 1 or 2, wherein the vehicle body 2 has a base portion 11 that supports the driver's seat 4, and the correction information communication device 50 is arranged inside the base portion 11.

[0067] The work machine 1 according to this item 3 can prevent external objects, such as the feet of an operator aboard the vehicle body 2, from coming into contact with the correction information communication device 50. It can also prevent the correction information communication device 50 from being exposed to direct sunlight and becoming overheated or being submerged in water. This makes it even less likely for malfunctions to occur in the correction information communication device 50, enabling stable positioning correction over a long period of time.

[0068] (Item 4) Item 3. The work machine (1) according to item 3, wherein the base (11) has a radio wave transparent cover member (22), and the correction information communication device (50) is disposed adjacent to the cover member (22).

[0069] According to the work machine 1 according to item 4, radio waves are transmitted smoothly between the inside and outside of the base 11 through the cover member 22, so the correction information communication device 50 can maintain a more stable communication state. This allows for more stable positioning correction.

[0070] Furthermore, according to the work machine 1 relating to item 4, the cover member 22 can more reliably prevent the correction information communication device 50 from coming into contact with external objects, from overheating due to direct sunlight, and from being exposed to water, making it even less likely for malfunctions to occur in the correction information communication device 50 and enabling stable positioning correction over the long term.

[0071] (Item 5) The work machine (1) according to item 4, wherein the cover member (22) is provided at the front of the base portion (11).

[0072] The area in front of the base 11, which corresponds to the driver's feet, can be made spacious even for narrow models with a relatively small lateral dimension of the vehicle body 2, and there are few components that may interfere with wireless communication. Moreover, the front of the base 11 is also close to the driver seated in the driver's seat 4. Therefore, the correction information communication device 50 can maintain a stable communication state whether it is directly connected wirelessly to the external communication network N or whether it is connected to the external communication network N via a wireless communication terminal P, such as a mobile information terminal carried by the driver or an information terminal (operation terminal) mounted on the vehicle body 2. This enables even more stable positioning correction.

[0073] (Item 6) The correction information communication device 50 has a communication unit 51 and a communication device main body 52 that transfers the position correction information received by the communication unit 51 to the control device 60, and the correction information communication device 50 is a work machine 1 described in item 4 or 5, in which at least the communication unit 51 is arranged adjacent to the cover member 22.

[0074] According to the work machine 1 according to item 6, radio waves can reach the periphery of the communication unit 51 more reliably, so that the correction information communication device 50 can maintain a more stable communication state. This enables more stable positioning correction.

[0075] (Item 7) A work machine 1 described in any one of items 1 to 6, which is equipped with a control device 5, the control device 5 being provided in front of the driver's seat 4, and the correction information communication device 50 being arranged below the control device 5.

[0076] A larger space can be secured below the control device 5 than at the sides or rear of the driver's seat 4. Also, there are fewer components that may interfere with wireless communication than at the sides or rear of the driver's seat 4. Therefore, according to the work machine 1 related to this item 7, the correction information communication device 50 can maintain a more stable communication state. This allows for more stable positioning correction.

[0077] (Item 8) The operating device 5 has an operation panel 14 that covers the lower part of the operating device 5, and the operation panel 14 is at least partially made of a radio wave transparent plate material.

[0078] The work machine 1 according to item 8 can prevent external objects, such as the feet of an operator aboard the vehicle body 2, from coming into contact with the correction information communication device 50. It can also prevent the correction information communication device 50 from being exposed to direct sunlight and becoming overheated or being submerged in water. This makes it even less likely that a malfunction will occur in the correction information communication device 50, enabling stable positioning correction over a long period of time.

[0079] Moreover, the lower part of the control device 5 is close to the driver seated in the driver's seat 4. Therefore, the correction information communication device 50 can maintain a stable communication state whether it is directly connected wirelessly to the external communication network N or connected to the external communication network N via a wireless communication terminal P such as a mobile information terminal carried by the driver or an information terminal (operation terminal) mounted on the vehicle body 2. This enables even more stable positioning correction.

[0080] (Item 9) The correction information communication device 50 has a communication unit 51 and a communication device main body 52 that transfers the position correction information received by the communication unit 51 to the control device 60, and the correction information communication device 50 is a work machine 1 described in item 8, in which at least the communication unit 51 is arranged adjacent to the operation panel 14.

[0081] According to the work machine 1 according to this item 9, radio waves can reach the periphery of the communication unit 51 more reliably, so that the correction information communication device 50 can maintain a more stable communication state. This enables more stable positioning correction.

[0082] (Item 10) The work machine 1 described in any one of items 1 to 9, wherein the correction information communication device 50 is a wireless communication device that is wirelessly connected to a wireless communication terminal P and can be wirelessly connected to the external communication network N via the wireless communication terminal P.

[0083] According to the work machine 1 relating to this item 10, the correction information communication device 50 can wirelessly connect to the external communication network N via a wireless communication terminal P such as a portable information terminal carried by the operator or an information terminal (operation terminal) mounted on the vehicle body 2, so that a stable communication state can be maintained. This enables even more stable positioning correction.

[0084] (Item 11) The work machine 1 according to any one of items 1 to 9, wherein the correction information communication device 50 is a wireless communication device that can be directly connected to the external communication network N by wireless.

[0085] According to the work machine 1 relating to this item 11, the correction information communication device 50 can be wirelessly connected directly to the external communication network N, making it possible to perform stable positioning correction with a simpler configuration than when wirelessly connecting to the external communication network N via a wireless communication terminal P such as the operator's mobile information terminal.

[0086] Although the present invention has been described above, the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0087] 1 Work equipment 2. Body 3 Running gear 4 Driver's seat 5. Controls 7. Bonnet 8 Cabin (protective equipment) 11 Base 14 Operation panel 21 Opening 22 Cover member 40 Positioning device 50 Correction information communication device 51 Communications Department 52 Communication device main body 60 Control device G Positioning satellite N External communication network P wireless communication terminal S1 base station S2 support equipment

Claims

1. A drivable vehicle body, The driver's seat and a positioning device that acquires position information from a positioning satellite; a correction information communication device that is wirelessly connected to an external communication network; a control device that corrects an error in the position information based on position correction information acquired from the external communication network; The correction information communication device is a work machine arranged around the driver's seat.

2. The work machine according to claim 1 , wherein the correction information communication device is disposed below the driver's seat.

3. the vehicle body has a base portion that supports the driver's seat, The work machine according to claim 1 , wherein the correction information communication device is disposed inside the base portion.

4. the base portion has a radio wave transparent cover member, The work machine according to claim 3 , wherein the correction information communication device is disposed adjacent to the cover member.

5. The work machine according to claim 4, wherein the cover member is provided at a front portion of the base portion.

6. The correction information communication device The Communications Department and a communication device main body that transfers the position correction information received by the communication unit to the control device, The work machine according to claim 4 , wherein the correction information communication device is arranged so that at least the communication unit is adjacent to the cover member.

7. Equipped with a control device, The control device is provided in front of the driver's seat, The work machine according to claim 1 , wherein the correction information communication device is disposed below the control device.

8. The control device has an operation panel that covers a lower part of the control device, 8. The work machine according to claim 7, wherein at least a portion of the operation panel is made of a radio wave transparent plate material.

9. The correction information communication device The Communications Department and a communication device main body that transfers the position correction information received by the communication unit to the control device, The work machine according to claim 8, wherein the correction information communication device is provided with at least the communication unit adjacent to the operation panel.

10. A work machine described in any one of claims 1 to 9, wherein the correction information communication device is a wireless communication device that is wirelessly connected to a wireless communication terminal held by the operator and can be wirelessly connected to the external communication network via the wireless communication terminal.

11. The work machine according to any one of claims 1 to 9, wherein the correction information communication device is a wireless communication device that can be directly connected wirelessly to the external communication network.

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