Support system for work machines, and support method for work machines

Abstract

This system suppresses positional errors in positioning results using various correction information, enabling accurate and appropriate support for the movement and operation of work equipment. [Solution] The support system for the work machine includes: an acquisition unit that acquires correction information including position information of a predetermined reference point and distance information between the reference point and a positioning satellite; a modification unit that can change the reference time for which the position information is defined to a predetermined time by changing the position information of the reference point included in the correction information acquired by the acquisition unit; a receiving device provided on the work machine and capable of receiving satellite signals from the positioning satellite; a position calculation unit that calculates the position information of the work machine based on the correction information including position information based on the predetermined time as the position information of the reference point and the satellite signals received by the receiving device; and a support device that uses the position information of the work machine calculated by the position calculation unit to support the movement and / or operation of the work machine.

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 high-precision positioning. In this RTK method, there are an RRS (Real Reference Station)-GNSS (Global Navigation Satellite System) 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】 Japanese Patent Application Laid-Open No. 2021-85800 【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 the reference point of each base station and the satellite signals transmitted from the positioning satellites is transmitted to the 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, thereby improving the positioning accuracy of the mobile station. 【0005】 However, since the RTK method performs relative positioning from a reference point such as an actual reference point (absolute position) or a virtual reference point, if the correspondence between the position information of the reference point and the distance information between the reference point and the positioning satellite does not match in each correction information, even when positioning is performed at the same location, there is a possibility that a position shift will occur in the positioning result using each correction information. 【0006】 The present invention has been made to solve the problems of the prior art described above, and aims to provide a work machine support system and a work machine support method that suppress positional errors in positioning results using each correction information, and that accurately and appropriately support the movement and operation of the work machine. [Means for solving the problem] 【0007】 A support system for a work machine according to one aspect of the present invention includes: an acquisition unit that acquires correction information including position information of a predetermined reference point and distance information between the reference point and a positioning satellite; a modification unit that can change the reference time for which the position information is defined to a predetermined time by changing the position information of the reference point included in the correction information acquired by the acquisition unit; a receiving device provided on the work machine and capable of receiving satellite signals from the positioning satellite; a position calculation unit that calculates the position information of the work machine based on the correction information including position information based on the predetermined time as the position information of the reference point and the satellite signals received by the receiving device; and a support device that uses the position information of the work machine calculated by the position calculation unit to support the movement and / or operation of the work machine. 【0008】 A method for supporting a work machine according to one aspect of the present invention includes: a first step in which an acquisition unit acquires correction information including position information of a predetermined reference point and distance information between the reference point and a positioning satellite; a second step in which a modification unit modifies the position information of the reference point included in the correction information acquired by the acquisition unit in the first step, thereby changing the reference time for which the position information is defined to a predetermined time; a third step in which a receiving device provided on the work machine receives a satellite signal from the positioning satellite; a fourth step in which a position calculation unit calculates the position information of the work machine based on the correction information including position information based on the predetermined time as the position information of the reference point and the satellite signal received by the receiving device; and a fifth step in which a support device provides support for the movement and / or operation of the work machine using the position information of the work machine calculated by the position calculation unit in the fourth step. [Effects of the Invention] 【0009】 According to the above-described support system and support method for the work machine, positional errors that occur in the positioning results using each correction information are suppressed, and the movement and operation of the work machine are supported accurately and appropriately. [Brief explanation of the drawing] 【0010】 [Figure 1] This is a schematic diagram of the support system for the work equipment. [Figure 2] This is a block diagram of the support system for the work machine in the first embodiment. [Figure 3] This is a schematic side view of the work machine. [Figure 4] Figure 1 illustrates the definition of map information based on the vehicle's position. [Figure 5] Figure 2 explains the definition of map information based on the vehicle's position. [Figure 6] Figure 3 explains the definition of map information based on the vehicle's position. [Figure 7] This is a diagram showing an example of a planned route. [Figure 8] Figure 1 illustrates the modification of the reference point's position information by the modified part in the first embodiment. [Figure 9] Figure 2 illustrates the modification of the reference point position information by the modified part in the first embodiment. [Figure 10] Figure 3 illustrates the modification of the reference point position information by the modified part in the first embodiment. [Figure 11] This diagram illustrates a series of processes performed by the modification unit, position calculation unit, and other components in the support system for a work machine according to the first embodiment. [Figure 12] This is a block diagram of the support system for the work machine in the second embodiment. [Figure 13] Figure 1 illustrates the modification of the reference point position information by the modified part in the second embodiment. [Figure 14]Figure 2 for explaining the change in the position information of the reference point due to the change part in the second embodiment. [Figure 15] It is a diagram for explaining a series of processes executed by a change part, a position calculation part, etc. in the work machine support system in the second embodiment. 【Mode for Carrying Out the Invention】 【0011】 [First Embodiment] 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 101 for a work machine 1. FIG. 2 is a block diagram of the support system 101 for the work machine 1. As shown in FIG. 2, the support system 101 for the work machine 1 includes a support device 20. The support device 20 uses the position information (vehicle body position VP) of the work machine 1 detected (positioned) based on a satellite signal (a signal including the orbital information of the positioning satellite G, the transmission time when the positioning satellite G transmits the satellite signal, etc.) transmitted from the positioning satellite G to support the running and / or work of the work machine 1. For example, the support device 20 is a control device 21 (vehicle body control device) that supports the running and work of the work machine 1 by operating the work machine 1 under automatic driving control based on the vehicle body position VP. Hereinafter, the support system 101 for the work machine 1 will be described taking as an example the case where the support system 101 for the work machine 1 includes the work machine 1 and the support device 20 is the vehicle body control device 21 provided in the work machine 1. 【0012】 In addition, the support system 101 for the work machine 1 of the present embodiment includes a server 51. The server 51 of the present embodiment can acquire satellite signals received by each base station 61 from a plurality of base stations 61 provided at respective predetermined reference points RP (absolute positions AP). The server 51 can generate correction information for positioning by the RTK method by using the acquired satellite signals. Therefore, the support device 20 can accurately and appropriately support the work machine 1 based on the vehicle body position VP calculated by positioning by the RTK method based on the correction information. 【0013】 First, the working machine 1 will be described. FIG. 3 is a schematic side view of the working machine 1. In the example shown in FIG. 3, the working machine 1 represents a tractor. In the following description, the working machine 1 will be described by taking the tractor as an example. However, the working machine 1 is not limited to the tractor and may be an agricultural working vehicle such as a combine or a rice transplanter, or a construction working vehicle such as a compact track loader or a backhoe. Further, the working machine 1 is not limited to a working vehicle and may be a flying device (so-called multicopter, etc.) that performs work while flying. 【0014】 As shown in FIG. 3, the working machine 1 includes a traveling vehicle body 2. The traveling vehicle body 2 supports various devices and instruments provided in the working machine 1. For example, the traveling vehicle body 2 is provided with a driver's seat 3 on which an operator can sit and a protection mechanism 4 for protecting the driver's seat 3. The protection mechanism 4 is, for example, a cabin that surrounds the periphery of the driver's seat 3. The protection mechanism 4 is not limited to a cabin and may be a canopy or a ROPS erected behind the driver's seat 3. 【0015】 As shown in FIG. 3, the working machine 1 includes a traveling device 5. The traveling device 5 is a device that supports the traveling vehicle body 2 so as to be capable of traveling. The traveling device 5 applies a propulsive force to the traveling vehicle body 2 by driving. The traveling device 5 has a plurality of wheels 6. The plurality of wheels 6 includes front wheels 6F and rear wheels 6R. The front wheels 6F and the rear wheels 6R are provided in pairs at intervals in the width direction. Examples of the wheels 6 include wheel-mounted wheels constituted by tires and crawler-type wheels. 【0016】 Also, as shown in FIG. 2, the working machine 1 includes a braking device 7 that brakes the traveling device 5. The braking device 7 is a disk-type brake mechanism and can change the braking force. 【0017】 As shown in Figure 3, the work machine 1 is equipped with a coupling device 8. The coupling device 8 is a device that allows the work machine 9 to be attached to and detached from it. The coupling device 8 is provided at the front and / or rear of the vehicle body 2. In the example shown in Figure 3, the coupling device 8 is provided at the rear of the vehicle body 2. Therefore, the work machine 1 is connected to the work machine 9 by the coupling device 8 and can move together with the work machine 9. In this embodiment, the coupling device 8 is a lifting device configured with a three-point linkage mechanism or the like. Note that the coupling device 8 is not limited to a lifting device and may be configured with, for example, a swing drawbar or the like. 【0018】 The work equipment 9 includes a harvesting device for digging up potatoes and carrots, a fertilizer spreading device for spreading fertilizer, a pesticide spreading device for spreading pesticides, a seeding device for sowing seeds in field H, a harvesting device for harvesting, a mowing device for cutting grass, a spreading device for spreading grass, a grass collecting device for gathering grass, a shaping device for shaping grass, and ground work equipment for performing ground work on field H. 【0019】 As shown in Figures 2 and 3, the work machine 1 is equipped with a power unit 11. The power unit 11 is a device capable of outputting power. The power unit 11 can output power to drive, for example, the travel device 5. The power unit 11 has a prime mover 12 and a transmission 13. The prime mover 12 is located at the front of the travel body 2. In this embodiment, the transmission 13 is located at the rear of the travel body 2. 【0020】 The prime mover 12 is composed of, for example, a diesel engine. As another example, the prime mover 12 may be composed of another internal combustion engine such as a gasoline engine, or an electric motor, etc. 【0021】 The transmission 13 can switch the propulsion force of the running gear 5 by changing the gear ratio, and can also switch the running gear 5 between forward and reverse. The transmission 13 has multiple gears for transmitting power, a shifter for changing the connection of the gears, and a clutch for switching between transmitting and disconnecting power. The transmission 13 switches the propulsion force of the running gear 5, as well as forward and reverse, by using the gears, shifter, and clutch. As a result, the power generated by the prime mover 12 is transmitted to the running gear 5 by the transmission 13. Consequently, the running gear 5 is driven, causing the vehicle body 2 to move forward and backward. 【0022】 Furthermore, the power unit 11 may also output power to other devices or equipment besides the running gear 5. For example, the power unit 11 may output power to drive the working device 9 in addition to the running gear 5. Specifically, the power unit 11 outputs power to the output shaft 14 (PTO shaft). The transmission 13 transmits the power of the prime mover 12 to the PTO shaft 14. The PTO shaft 14 is an output shaft that drives the working device 9 when connected to it. 【0023】 Furthermore, the power unit 11 outputs power to the hydraulic pump. The hydraulic pump is driven by the power output from the prime mover 12 and discharges hydraulic fluid drawn in from the hydraulic fluid tank. The hydraulic pump supplies hydraulic fluid to each hydraulic device equipped on the work machine 1. 【0024】 As shown in Figure 2, the work machine 1 is equipped with a vehicle body control device 21 (support device 20). The work machine 1 is also equipped with a vehicle body storage device 22. 【0025】 The vehicle control unit 21 includes one or more processors. The vehicle control unit 21 is a controller for the work implement 1 and performs various controls related to the work implement 1. The vehicle control unit 21 is communicated with each device and equipment mounted on the work implement 1 via an in-vehicle network such as CAN, ISOBUS, LIN, or FlexRay. For example, the vehicle control unit 21 can control the drive, stop, and rotational speed of the prime mover 12. The vehicle control unit 21 can also control the transmission 13 to change the vehicle speed of the work implement 1 (vehicle body 2) and switch between forward and reverse movement of the work implement 1. 【0026】 The vehicle control device 21 includes one or more memories, various analog circuits, various digital circuits, etc. One or more memories store (remember) software programs and various data to be executed by one or more processors. The vehicle control device 21 can read software programs from one or more memories using one or more processors and execute various processes based on said software programs. The vehicle control device 21 may also execute various processes based on predetermined logic circuits using one or more processors. 【0027】 Processors include, for example, CPUs (Central Processing Units), GPUs (Graphics Processing Units), DSPs (Digital Signal Processors), FPGAs (Field Programmable Gate Arrays), and ASICs (Application Specific Integrated Circuits). 【0028】 The vehicle control device 21 may perform various processes through the cooperation of multiple physically separated processors, and its configuration is not limited to the configuration described above. In such a case, the multiple processors are each mounted on one or more computers physically separated from the work machine 1, and these processors are connected to each other via a network such as an in-vehicle network, LAN, WAN, and the Internet. 【0029】 Furthermore, the software program may be stored in a vehicle storage device 22 that is communicatively connected to the vehicle control device 21, or in an external server device connected via the network, and then installed into the memory from there. 【0030】 The vehicle body storage device 22 stores various information and data related to the work machine 1 in a read / write manner. The vehicle body storage device 22 includes non-volatile memory such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). The vehicle body storage device 22 is connected to the vehicle body control device 21 in a communicative manner, and the vehicle body control device 21 can acquire various information and data stored in the vehicle body storage device 22. 【0031】 As shown in Figure 2, the work machine 1 is equipped with a vehicle communication device 23. The vehicle communication device 23 is the communication interface of the work machine 1 and includes a communication circuit. The vehicle communication device 23 can communicate with external devices (for example, relay terminals and servers 51 described later) and inputs and outputs (sends and receives) various information, data, and signals. The vehicle communication device 23 performs wireless communication using mobile phone networks, data communication networks, Bluetooth® Low Energy in the Bluetooth® specification of the IEEE 802.15.1 series of communication standards, Wi-Fi® in the IEEE 802.11.n series of communication standards, etc. 【0032】 The vehicle communication device 23 can communicate with the server 51 directly or indirectly. In this embodiment, the vehicle communication device 23 communicates indirectly with the server 51 by using a relay terminal that can communicate with the server 51 via a mobile phone network as an access point. The relay terminal is, for example, a mobile terminal such as a smartphone. The vehicle communication device 23 communicates with the mobile terminal via Wi-Fi (registered trademark), and the mobile terminal communicates with the server 51 via a mobile phone network. The vehicle communication device 23 requests correction information from the server 51 via the mobile terminal, for example, and receives the correction information from the server 51 via the mobile terminal. The vehicle communication device 23 outputs the received correction information to the positioning device 31, which will be described later. The vehicle communication device 23 requests correction information at predetermined time intervals. 【0033】 As shown in Figure 2, the work machine 1 is equipped with a positioning device 31. The positioning device 31 is a device that determines the position of the work machine 1 (vehicle body position VP) based on satellite signals received from positioning satellite G. The positioning device 31 includes a receiving device 32, a positioning control device 33, and a positioning storage device 34. In other words, the support system 101 of the work machine 1 is equipped with a receiving device 32. 【0034】 The receiving device 32 is a device capable of receiving satellite signals from positioning satellites G. The receiving device 32 can receive satellite signals from positioning satellites G of satellite positioning systems 102 such as GLONASS (Global Navigation Satellite System), Galileo, QZSS (Quasi Zenith Satellite System), GPS (Global Positioning System), and BeiDou (Beidou Navigation Satellite System). 【0035】 The receiving device 32 is a GNSS antenna that receives satellite signals. The receiving device 32 is installed on the work machine 1 and, in this embodiment, is mounted on a housing that houses other devices of the positioning device 31 (such as the positioning control device 33 and the positioning memory device 34). This housing (positioning device 31) is, for example, located on top of the protection mechanism 4. 【0036】 The positioning control device 33 is a processing circuit that includes one or more processors. The positioning control device 33 is a controller of the positioning device 31 and performs various controls on the positioning device 31. The positioning control device 33 includes one or more memories, various analog circuits, various digital circuits, etc. One or more memories store (remember) software programs and various data to be executed by one or more processors. The positioning control device 33 can read software programs from one or more memories using one or more processors and execute various processes based on those software programs. 【0037】 Furthermore, as described in the vehicle body control device 21, the positioning control device 33 may perform various processes based on predetermined logic circuits using one or more processors. Also, as described in the vehicle body control device 21, the positioning control device 33 may perform various processes by having multiple physically separated processors cooperate with each other, and its configuration is not limited to the above-described configuration. 【0038】 The positioning storage device 34 stores various information and data in a read-write manner. The positioning storage device 34 includes non-volatile memory such as an HDD or SSD. The positioning storage device 34 is communicably connected to the positioning control device 33, and the positioning control device 33 can acquire various information and data stored in the positioning storage device 34. For example, the positioning storage device 34 stores identification information indicating the positioning device 31. The identification information indicating the positioning device 31 is a unique string of characters used to identify the model (product) of the positioning device 31. The identification information indicating the positioning device 31 may also be a unique string of characters used to identify individual positioning devices 31. Furthermore, the identification information indicating the positioning device 31 may be stored in other storage devices such as the vehicle storage device 22. 【0039】 As shown in Figure 3, the positioning control device 33 has a position calculation unit 33a. In other words, the support system 101 of the work machine 1 is equipped with a position calculation unit 33a. The position calculation unit 33a consists of one or more processors provided in the positioning control device 33, and software programs stored in memory. 【0040】 The position calculation unit 33a calculates (determines) the position information (vehicle body position VP) of the work machine 1 using the satellite signal received by the receiving device 32. The vehicle body position VP is position information such as data indicated by latitude, longitude, and altitude, or data indicated by coordinates (X axis, Y axis, Z axis). Unless otherwise specified, the position information in the following description is similar to the vehicle body position VP, such as data indicated by latitude, longitude, and altitude, or data indicated by coordinates (X axis, Y axis, Z axis). 【0041】 The vehicle body position VP may be, for example, position information indicating the position of the receiving device 32 (antenna position), or it may be position information indicating a position different from the antenna position. If the position indicated by the vehicle body position VP is different from the antenna position, the position calculation unit 33a corrects the antenna position based on dimensional information (distance information between the antenna position and the position indicated by the vehicle body position VP) that is stored in advance in the positioning memory device 34. In this embodiment, the case in which the position indicated by the vehicle body position VP is the antenna position will be explained as an example. 【0042】 In this embodiment, the position calculation unit 33a calculates the position information (vehicle position VP) of the work machine 1 based on the correction information received by the vehicle communication device 23 and the satellite signal received by the receiving device 32. That is, the position calculation unit 33a determines the vehicle position VP using the RTK method. The correction information includes the position information of a predetermined reference point RP and the distance information between the reference point RP and the positioning satellite G. Specifically, the correction information includes first correction information and second correction information. 【0043】 The first correction information is correction information in which the reference point RP is the absolute position AP of a predetermined base station 61. The first correction information is also correction information for positioning using the RRS-GNSS method. Specifically, the first correction information is the position information of the absolute position AP of the base station 61 and the distance information between the absolute position AP (reference point RP) and the positioning satellite G. 【0044】 The second correction information is correction information in which the reference point RP is a predetermined virtual reference point VRP. Furthermore, the second correction information is correction information for positioning using the VRS-GNSS method. Specifically, the second correction information is the position information of the virtual reference point VRP that is virtually defined in the vicinity of the work machine 1, and the distance information between the virtual reference point VRP (reference point RP) and the positioning satellite G. 【0045】 Furthermore, the position calculation unit 33a may be capable of independent positioning based on satellite signals received by the receiving device 32, in addition to positioning by the RTK method. 【0046】 Furthermore, if the positioning device 31 has multiple receiving devices 32, the position calculation unit 33a may calculate the direction (vehicle direction) of the moving vehicle body 2 based on the position of each antenna that has been measured. 【0047】 Furthermore, the positioning device 31 may also have an inertial measurement unit (IMU). The inertial measurement unit includes an acceleration sensor for detecting acceleration, a gyro sensor for detecting angular velocity, and the like. In such a case, the position calculation unit 33a uses the information detected by the inertial measurement unit to supplement the position information determined by the satellite signal received by the receiving device 32. 【0048】 As shown in Figure 2, the work machine 1 is equipped with a display device 41. The display device 41 is a device capable of displaying various information related to the work machine 1. The display device 41 may be, for example, a meter panel that is not removablely mounted around the driver's seat 3 of the work machine 1, or a tablet that is removablely mounted. 【0049】 As shown in Figure 2, the display device 41 includes a display control device 42, a display storage device 43, and a display unit 44. The display control device 42 is a processing circuit that includes one or more processors. The display control device 42 is the controller of the display device 41 and performs various controls on the display device 41. The display control device 42 includes one or more memories, various analog circuits, various digital circuits, etc. One or more memories store (remember) software programs and various data to be executed by one or more processors. The display control device 42 can read software programs from one or more memories using one or more processors and execute various processes based on those software programs. 【0050】 Furthermore, as described in the vehicle body control device 21, the display control device 42 may perform various processes based on predetermined logic circuits using one or more processors. Also, as described in the vehicle body control device 21, the display control device 42 may perform various processes by having multiple physically separated processors cooperate with each other, and its configuration is not limited to the configuration described above. 【0051】 The display storage device 43 stores various types of information and data in a read-write manner. The display storage device 43 includes non-volatile memory such as an HDD or SSD. The display storage device 43 is communicated with the display control device 42, and the display control device 42 can acquire various types of information and data stored in the display storage device 43. 【0052】 The display unit 44 is a screen that can display various images and information through display control by the display control device 42. The display unit 44 is, for example, a liquid crystal display, an organic EL display, etc. The display unit 44 is also provided with a touch panel on its surface, which can detect touch operations on the various images and information displayed. 【0053】 In other words, the display device 41 also serves as an input interface that accepts information input operations (input of information settings). Therefore, the display device 41 accepts input of various information settings or instructions by the operator performing predetermined operations on the touch panel. The information (input information) accepted by the display device 41 is acquired by the display control device 42, which then uses it for various processes or stores it in the display storage device 43. The display control device 42 may also output the input information to the vehicle body control device 21, which may then store the acquired information in the vehicle body storage device 22. 【0054】 In this embodiment, the display device 41 also serves as an input interface. However, the work machine 1 may be equipped with an input interface consisting of various switches or the like, separate from the display device 41, that accepts information input operations, either in place of or in addition to the display device 41. 【0055】 As shown in Figures 2 and 3, the work machine 1 is equipped with an operating device 15. The operating device 15 includes switches, levers, pedals, and other keys that can be operated by an operator seated in the driver's seat 3 or by an operator near the work machine 1. 【0056】 As shown in Figures 2 and 3, the work machine 1 is equipped with a steering device 16. The steering device 16 includes a steering control device 16a (steering wheel), a steering shaft 16b, and an auxiliary steering mechanism 16c (power steering mechanism). The steering control device 16a is connected to the auxiliary steering mechanism 16c via the steering shaft 16b. The auxiliary steering mechanism 16c includes a steering cylinder and a steering control valve that adjusts the hydraulic fluid supplied to the steering cylinder. As a result, the auxiliary steering mechanism 16c moves an arm (knuckle arm) that changes the direction of the front wheels 6F. Therefore, the steering device 16 can change the direction of the front wheels 6F of the running device 5 and steer the running vehicle body 2. 【0057】 The work machine 1 is capable of manual steering, where the vehicle body 2 is steered in response to the operation of the steering control device 16a, and automatic steering, where the vehicle body control device 21 controls the steering device 16 to steer the vehicle body 2. In addition, the work machine 1 can move and stop by operating the vehicle body 5 when the power unit 11 or the braking unit 7 is activated in response to the manual operation of the accelerator member or brake pedal provided on the control device 15. Furthermore, the work machine 1 can move and stop automatically by having the vehicle body control device 21 control the power unit 11 and the braking unit 7 to activate the vehicle body 5. 【0058】 In other words, the work machine 1 is capable of manual operation, in which the operator manually controls the driving and steering, and automatic operation control, in which the vehicle control device 21 automatically controls the driving and steering. In the following description, the mode in which the work machine 1 is operated by the operator's manual control is called the manual mode, and the mode in which the vehicle control device 21 automatically controls the driving and steering is called the automatic mode. The work machine 1 (vehicle control device 21) can be switched between manual mode and automatic mode, for example, by a mode change switch provided on the operating device 15. The vehicle control device 21 may also be able to switch between manual mode and automatic mode automatically based on predetermined conditions. 【0059】 The vehicle control device 21 uses the position information (vehicle position VP) of the work machine 1 calculated by the position calculation unit 33a to perform automatic driving control based on the vehicle position VP. Specifically, the vehicle control device 21 performs automatic driving control based on map information MP (area map) indicating the area in which the work machine 1 travels and / or performs work, and the vehicle position VP. In this embodiment, the map information MP is defined by the display device 41. 【0060】 As shown in Figure 2, the display control device 42 has a definition unit 42a. In other words, the support system 101 for the work machine 1 is equipped with a definition unit 42a. The definition unit 42a defines map information MP based on the vehicle body position VP calculated by the position calculation unit 33a. The definition unit 42a consists of one or more processors provided in the display control device 42, and software programs stored in memory. 【0061】 Specifically, the definition unit 42a defines map information MP based on position information (vehicle position VP) calculated using the first correction information or the second correction information. Figures 4 to 6 illustrate the definition of map information MP based on vehicle position VP. As shown in Figure 4, the map information MP in this embodiment is position information of the outline (contour C) of a work area such as a field H where the implement 1 travels and / or performs work. The map information MP may be data expressed in terms of position (latitude, longitude, altitude), data expressed in a coordinate system (X axis, Y axis, Z axis), or data expressed in any other form. 【0062】 The definition unit 42a acquires the position information (vehicle position VP) of the implement 1 calculated by the position calculation unit 33a. For example, the definition unit 42a acquires multiple vehicle position VPs when the implement 1 circles the field H. In such a case, the operator manually operates the implement 1 in manual mode to make it travel around the contour C of the field H. The definition unit 42a creates the contour C of the field H based on the travel trajectory T obtained from the multiple vehicle position VPs, and defines the area represented by the contour C as map information MP. 【0063】 The map information MP defined by the definition unit 42a is stored (registered) in the display storage device 43, the vehicle body storage device 22, etc. At this time, the display unit 44 may receive input of information that identifies the field H (identification information), and the map information MP may be registered together with the identification information. The identification information that indicates the map information MP is a unique string of characters that identifies the field H indicated by the map information MP. For the sake of explanation, the following explanation will use the case in which the map information MP defined in the definition unit 42a is stored in the vehicle body storage device 22 as an example. 【0064】 As shown in Figure 5, the definition unit 42a may calculate inflection points from the travel trajectory T indicated by the vehicle position VP, obtain a contour C from the line connecting the inflection points, and define the map information MP. Alternatively, as shown in Figure 6, the operator may specify the ends of the travel trajectory T by operating the map registration screen displayed on the display unit 44, and the definition unit 42a may obtain a contour C from the line connecting the specified ends and define the map information MP. 【0065】 Furthermore, while the above description explained the case in which the definition unit 42a defines map information MP based on multiple vehicle body positions VP when the implement 1 circles the field H, the definition unit 42a only needs to define map information MP based on the vehicle body position VP calculated by the position calculation unit 33a, and the vehicle body position VP used to define map information MP is not limited to the vehicle body position VP when the implement 1 circles the field H. That is, if the implement 1 travels back and forth between one side and the other side of the field H, the definition unit 42a may define map information MP based on the vehicle body position VP at the end of the field H that the implement 1 passed through during the back and forth travel. 【0066】 Furthermore, the definition unit 42a may define a planned driving route R on the map information MP in addition to the map information MP. The planned driving route R is the driving path used by the vehicle control device 21 for automatic driving control. For example, the definition unit 42a defines the planned driving route R on the map information MP based on the information entered into a predetermined line registration screen displayed on the display unit 44. The planned driving route R is defined by lines and points defined on the map information MP, and can also be said to be defined by position information within the map information MP. Therefore, the planned driving route R can be said to be information defined based on the vehicle position VP calculated by the position calculation unit 33a, similar to the map information MP. 【0067】 For example, the line registration screen accepts inputs such as field H (map information MP), number of headlands (number of times the headlands of field H are circled), width of the work device 9, working width of the work device 9 (width over which the work device 9 performs work on the ground, such as field H, work execution width), and overlap width (width over which the working widths overlap in adjacent paths of the planned travel route R). Based on this information, the definition unit 42a defines the planned travel route R on the map information MP. The planned travel route R defined by the definition unit 42a is stored in the memory of the vehicle control device 21. Therefore, the vehicle control device 21 performs automatic driving control of the work device 1 based on the planned travel route R stored in memory. 【0068】 The planned driving route R defined by the definition unit 42a may be stored (registered) in the vehicle body storage device 22, etc., along with the map information MP. In this case, when the operator operates the input interface (display device 41), the input interface accepts the specification of the field H and / or the planned driving route R. The vehicle body control device 21 then retrieves the planned driving route R stored in the vehicle body storage device 22 based on this specification and holds the planned driving route R in memory. As a result, the vehicle body control device 21 can perform automatic driving control based on the planned driving route R held in memory. 【0069】 Figure 7 shows an example of a planned travel route R. The planned travel route R includes, for example, a straight-line section R1 in which the work machine 1 travels in a straight line, and a turning section R2 in which it travels in a turning direction. 【0070】 The vehicle control device 21 performs automatic driving control based on a predetermined vehicle position VP of the work machine 1 and the planned travel route R, causing the work machine 1 in automatic mode to travel along the planned travel route R. When the vehicle position VP is located on the planned travel route R, the vehicle control device 21 maintains the steering angle of the steering device 16. If the vehicle position VP is deviated from the planned travel route R (if the positional deviation between the planned travel route R and the vehicle position VP is greater than a predetermined value), the vehicle control device 21 changes the steering angle of the steering device 16 so that the vehicle position VP approaches the planned travel route R (so that the positional deviation approaches zero). 【0071】 Furthermore, if the positioning device 31 can calculate the vehicle orientation of the work machine 1 in addition to, or instead of, the vehicle position VP using, for example, the satellite positioning system 102, the vehicle control device 21 may change the steering angle of the steering device 16 so that the azimuth deviation between the planned route R and the vehicle orientation approaches zero. 【0072】 Furthermore, in addition to controlling the steering device 16, the automatic mode vehicle control device 21 may also control other devices and equipment based on the planned travel route R and vehicle position VP. For example, the automatic mode vehicle control device 21 may control the transmission 13 to change the vehicle speed of the work implement 1 (traveling vehicle body 2) or control the coupling device 8 to raise or lower the work implement 9 based on the planned travel route R and vehicle position VP. Alternatively, the automatic mode vehicle control device 21 may control the drive of the PTO shaft 14 or adjust the flow rate of the hydraulic fluid supplied to the work implement 9 based on the planned travel route R and vehicle position VP, thereby controlling the drive of the work implement 9. 【0073】 Furthermore, in the above description, we explained a case in which the definition unit 42a defines map information MP and the planned driving route R, and the vehicle control device 21 performs automatic driving control based on the map information MP (planned driving route R). However, the vehicle control device 21 may also perform automatic driving control based on map information MP etc. managed (stored) on an external management server etc., separate from the map information MP etc. defined by the definition unit 42a. 【0074】 In such a case, when the definition unit 42a defines map information MP, the vehicle communication device 23 transmits the map information MP to the management server. The management server registers the map information MP based on the vehicle position VP calculated by the position calculation unit 33a in its database and distributes the registered map information MP to the work machine 1. On the other hand, when an operator operates the input interface (display device 41), the input interface accepts the designation of a field H, and the vehicle communication device 23 requests the management server for map information MP corresponding to that field H. The management server transmits the map information MP to the work machine 1 in response to the request from the vehicle communication device 23, and the memory of the vehicle control device 21 and the vehicle storage device 22 hold (store) the map information MP. As a result, the vehicle control device 21 can execute automatic driving control based on the map information MP defined by the arithmetic processing unit other than the display control device 42. 【0075】 With the configuration described above, the vehicle control device 21 (support device 20) can support the movement and / or operation of the work implement 1 based on the map information MP defined by the definition unit 42a and the position information of the work implement 1 calculated by the position calculation unit 33a. 【0076】 Next, the server 51 will be described. The server 51 is a fixed terminal, such as a fixed computer, located outside the work machine 1. As shown in Figure 2, the server 51 has a server computing unit 52, a server storage device 53, and a server communication device 54. 【0077】 The server arithmetic unit 52 is a processing circuit that includes one or more processors. The server arithmetic unit 52 performs various arithmetic operations. The server arithmetic unit 52 includes one or more memories, various analog circuits, various digital circuits, etc. One or more memories store (remember) software programs and various data to be executed by one or more processors. The server arithmetic unit 52 can read software programs from one or more memories using one or more processors and execute various operations based on those software programs. 【0078】 Furthermore, as described in the vehicle body control device 21, the server computing unit 52 may perform various processes based on predetermined logic circuits using one or more processors. Also, as described in the vehicle body control device 21, the server computing unit 52 may perform various processes by having multiple physically separated processors cooperate with each other, and its configuration is not limited to the configuration described above. 【0079】 The server storage device 53 stores various types of information and data in a read-write manner. The server storage device 53 includes non-volatile memory such as an HDD or SSD. The server storage device 53 is connected to the server computing unit 52 in a communicative manner, and the server computing unit 52 can retrieve various types of information and data stored in the server storage device 53. For example, the server storage device 53 stores a base station table that associates each base station 61 with the location information of the absolute position AP of the base station 61. 【0080】 The base station table is a table that associates, for example, the identification information of a base station 61 (for example, a predetermined string) with the location information of the absolute location AP of that base station 61. The identification information that represents a base station 61 is a unique string that identifies that base station 61. In addition, in the base station table, the identification information of a base station 61 and the location information of the absolute location AP of that base station 61 are also associated with a reference time t (reference time) that serves as the basis for the definition of the location information. 【0081】 The reference time t is time axis information indicating the period in which the location information is defined. In other words, the reference time t indicates which period on Earth is used as the reference for defining the location information. For example, if the reference time t is a predetermined first period t1, the location information defined in that reference time t means the location information on Earth in the first period t1. On the other hand, if the reference time t is a predetermined second period t2 that is later than the first period t1, the location information defined in that reference time t means the location information on Earth in the second period t2, which is later than the first period t1. 【0082】 Specifically, for example, the reference time t for position information calculated by standalone positioning is defined by the date and time based on the transmission time of the satellite signal used to calculate the position information (transmission date and time), the date and time the satellite signal was received (reception date and time), or the date and time the position information was calculated. 【0083】 Furthermore, since the position information calculated using the correction information, i.e., the position information calculated by the RTK method, is calculated by relative positioning with respect to the reference point RP, the reference time t of the position information calculated using the correction information depends on the reference time t of the position information of the reference point RP included in the correction information. For example, if the position information is calculated using the first correction information, the reference time t of the position information becomes the reference time t of the position information of the reference point RP of the first correction information. Also, if the position information is calculated using the second correction information, the position information becomes the reference time t of the position information of the virtual reference point VRP. Here, since the virtual reference point VRP is an arbitrary reference point RP defined in the vicinity of a mobile station such as work machine 1, the reference time t of the position information of the virtual reference point VRP is the time when the virtual reference point VRP was defined (for example, the current time t3), and the reference time t of the position information calculated using the second correction information is also the time when the virtual reference point VRP was defined. 【0084】 In the following explanation, the reference point RP (absolute position AP1) of base station 61, which is pre-stored in the base station table, may be referred to as the "first absolute position." The position information of this first absolute position AP1 may be referred to as the "first position information," and the reference time t of the first position information may be referred to as the "first time t1." Furthermore, the reference time t of each first absolute position pre-stored in the base station table does not have to be the same; they may be different times. 【0085】 The server communication device 54 is the communication interface of the server 51 and includes a communication circuit. The server communication device 54 can communicate with external devices (e.g., the work machine 1 or the base station 61) and inputs and outputs (sends and receives) various information, data, and signals. The server communication device 54 communicates wirelessly with external devices using, for example, a mobile phone network, a data communication network, or Wi-Fi®, a registered trademark of the IEEE 802.11.n communication standard. 【0086】 The server communication device 54 communicates directly or indirectly with the work machine 1 and the base station 61. As described with respect to the vehicle body communication device 23, the server communication device 54 in this embodiment communicates indirectly with the work machine 1 (vehicle body communication device 23) via a relay terminal. The server communication device 54 also communicates indirectly with each base station 61 via a management center. The management center is a fixed terminal such as a fixed computer located outside the work machine 1, and is installed, for example, at an agricultural machinery manufacturer, an agricultural cooperative, or a management company. The server communication device 54 receives observation information (information based on satellite signals), which will be described later, from each base station 61, and the server computing device 52 generates correction information based on the observation information. 【0087】 Next, the base station 61 will be described. The base station 61 is installed at a reference point RP, which is a predetermined absolute position AP, and receives satellite signals from the positioning satellite G. The base station 61 is a fixed base station installed at a predetermined reference point RP (absolute position AP) by, for example, the Geospatial Information Authority of Japan, an agricultural machinery manufacturer, an agricultural cooperative, or a management company. Multiple base stations 61 are arranged around the area in which the work machine 1 travels by automatic driving control (for example, an area including a work area such as a field H). As shown in Figure 2, each base station 61 is equipped with a base computing device 62, a base storage device 63, a base receiving device 64, and a base communication device 65. 【0088】 The base arithmetic unit 62 is a processing circuit that includes one or more processors. The base arithmetic unit 62 is the controller of the base station 61 and performs various controls related to the base station 61. The base arithmetic unit 62 includes one or more memories, various analog circuits, various digital circuits, etc. One or more memories store (remember) software programs and various data to be executed by one or more processors. The base arithmetic unit 62 can read software programs from one or more memories using one or more processors and execute various processes based on those software programs. 【0089】 Furthermore, as described in the vehicle body control device 21, the base arithmetic unit 62 may perform various processes based on predetermined logic circuits using one or more processors. Also, as described in the vehicle body control device 21, the base arithmetic unit 62 may perform various processes by having multiple physically separated processors cooperate with each other, and its configuration is not limited to the configuration described above. 【0090】 The base station storage device 63 stores various types of information and data in a read-write manner. The base station storage device 63 includes non-volatile memory such as an HDD or SSD. The base station storage device 63 is communicably connected to the base arithmetic unit 62, and the base arithmetic unit 62 can retrieve various types of information and data stored in the base station storage device 63. The base station storage device 63 stores, for example, identification information of the base station 61 and location information of absolute position APs. 【0091】 The base station receiving device 64 is a device capable of receiving satellite signals from multiple positioning satellites G. Similar to the receiving device 32 described above, the base station receiving device 64 can receive satellite signals from positioning satellites G owned by the satellite positioning system 102. The base station receiving device 64 is a GNSS antenna that receives satellite signals. 【0092】 The base station communication device 65 is the communication interface of the base station 61 and includes a communication circuit. The base station communication device 65 can communicate with the outside (e.g., server 51) and inputs and outputs (sends and receives) various information, data, and signals. The base station communication device 65 communicates wirelessly with the outside, for example, via a mobile phone communication network, a data communication network, or the IEEE 802.11.n series Wi-Fi (registered trademark). 【0093】 The base station communication device 65 communicates with the server 51 directly or indirectly. In this embodiment, the base station communication device 65 communicates indirectly with each base station 61 via the management center. The base station communication device 65 only needs to be able to transmit observation information to the server 51, and may transmit observation information directly to the server 51 without going through the management center. 【0094】 When the base station receiving device 64 receives a satellite signal from the positioning satellite G, the base station computing device 62 defines (calculates) observation information. For example, the base station computing device 62 defines the observation information by adding its own identification information and the date and time of reception when the base station receiving device 64 received the satellite signal to the satellite signal. Alternatively, the base station computing device 62 may define the observation information by adding the position information of its own reference point RP (absolute position AP) and its reference time t to the satellite signal. 【0095】 Once the base computing unit 62 defines the observation information, it transmits the observation information to the server communication unit 54 via the base communication unit 65. The server computing unit 52 stores (retains) the observation information received by the base station 61 in the server storage device 53. As a result, the server storage device 53 can store each base station 61 and the satellite signals for each positioning satellite G received at that base station 61 in association with each other. 【0096】 The server storage device 53 may discard stored observation information in an appropriate time based on the transmission date and time, reception date and time, etc., of the satellite signals contained in the observation information. 【0097】 The following describes the process by which the server computing device 52 generates correction information. As shown in Figure 2, the server computing device 52 has a generation unit 52a. Therefore, it can be said that the support system 101 of the work machine 1 is equipped with a generation unit 52a. The generation unit 52a generates correction information based on positioning signals received by one or more base stations 61 from positioning satellite G. The generation unit 52a consists of one or more processors provided in the server computing device 52 and software programs stored in memory. 【0098】 First, the generation unit 52a acquires satellite signals received from positioning satellite G by one or more base stations 61. Specifically, the generation unit 52a acquires satellite signals from observation information received by server communication device 54 via base station communication device 65. In this embodiment, the generation unit 52a acquires satellite signals from desired observation information by referring to observation information stored in server storage device 53. 【0099】 Furthermore, the generation unit 52a generates correction information based on the acquired satellite signal and the position information of a predetermined reference point RP. Specifically, the generation unit 52a can generate first correction information based on the acquired satellite signal and the position information of the absolute position AP of the base station 61 that received the satellite signal. In addition, the generation unit 52a can generate second correction information including a virtual reference point VRP based on the satellite signal received by three or more predetermined base stations 61 and the position information of the absolute position APs of three or more base stations 61. 【0100】 Specifically, the generation unit 52a generates first correction information in response to a request from the work machine 1 (vehicle body communication device 23) based on the first position information. On the other hand, the generation unit 52a generates second correction information in response to a request from the work machine 1 (vehicle body communication device 23) based on position information obtained by redefining the first position information. 【0101】 In this embodiment, the server 51 periodically redefines the location information of the absolute position AP of each base station 61. As shown in Figure 2, the server computing device 52 has a redefinition unit 52b. In other words, the support system 101 of the work machine 1 is equipped with a redefinition unit 52b. The redefinition unit 52b consists of one or more processors provided in the server computing device 52, and software programs stored in memory. The redefinition unit 52b redefines the location information of the absolute position AP of each base station 61 based on satellite information received by each base station 61 and second correction information. Therefore, the reference time t for the redefined location information is at least later than the reference time t for the first location information (first time t1). In the following description, the redefined absolute position AP of the base station 61 (absolute position AP2) may be referred to as the "second absolute position". Also, the location information of this second absolute position AP2 may be referred to as the "second location information", and the reference time t for the second location information may be referred to as the "second time t2". 【0102】 Specifically, the redefinition unit 52b calculates the absolute position AP position information of each base station 61 based on the satellite information received by each base station 61 and second correction information based on satellite signals received by three or more base stations 61 in the vicinity of the base station 61. In other words, the redefinition unit 52b treats each base station 61 as a mobile station and calculates the position information of each mobile station (base station 61) using the VRS-GNSS method. For each first set period (e.g., 1 hour), the redefinition unit 52b calculates the absolute position AP position information of each base station 61 using the VRS-GNSS method and stores it for a second set period (e.g., 24 hours or more). Then, the redefinition unit 52b calculates second position information based on the calculation results of the multiple stored position information. In this case, for each third set period (e.g., several months to about 1 year), the redefinition unit 52b calculates second position information based on the calculation results of the multiple stored position information. 【0103】 Therefore, for example, if the first setting period is 1 hour and the second setting period is 24 hours, the redefinition unit 52b calculates the second location information based on 24 location information calculated using the VRS-GNSS method. Note that the first setting period, second setting period, and third setting period described above are merely examples and are not particularly limited. For example, without setting a first setting period, the redefinition unit 52b may continuously accumulate the absolute location AP location information of each base station 61 for each first setting period and calculate the second location information based on the calculation results of the multiple accumulated location information. 【0104】 The redefinition unit 52b stores the calculated second position information along with the reference time t in which the second position information is defined in the server storage device 53. The reference time t for the second position information is the date and time when the virtual reference point VRP of the second correction information used when calculating the most recent position information among the position information used when calculating the second position information was defined. 【0105】 The server storage device 53 stores the second position information calculated by the redefinition unit 52b and the reference time t (second time t2) of the second position information in the base station table. Accordingly, the server storage device 53 stores the identification information of the base station 61, the position information of the absolute position AP of the base station 61 (first position information, second position information), and the reference time t (first time t1, second time t2) of the position information in association with each other in the base station table. 【0106】 The calculation of the second position information by the redefinition unit 52b will be explained in more detail below. First, the redefinition unit 52b refers to the base station table and extracts from the base stations 61 stored in the base station table that have been redefined for the first set period (elapsed base stations) since the last redefinition. Once the elapsed base station is extracted, the redefinition unit 52b obtains the satellite signal received by the elapsed base station from the observation information received by the server communication device 54 via the base station communication device 65. The redefinition unit 52b obtains the satellite signal from the observation information received from the elapsed base station by referring to the observation information stored in the server storage device 53. 【0107】 Furthermore, the redefinition unit 52b requests the generation unit 52a to generate second correction information for calculating the position information of the reference point RP of the passing base station. The generation unit 52a outputs identification information of the passing base station to the generation unit 52a, causing the generation unit 52a to generate second correction information for calculating the position information of the reference point RP of the said passing base station. 【0108】 The generation unit 52a, based on the identification information of the transiting base stations output from the redefinition unit 52b, refers to the base station table in the server storage device 53 and generates second correction information including a virtual reference point VRP based on the satellite signals received by three or more base stations 61 surrounding the transiting base station and the absolute position APs of three or more base stations 61. Specifically, the generation unit 52a refers to the base station table, obtains the position information (e.g., second position information) of the absolute position AP of the transiting base station, selects three or more base stations 61 closest to the transiting base station based on this position information, and generates second correction information based on the satellite signals received by these base stations 61. At this time, the generation unit 52a also defines a virtual reference point VRP in the vicinity of the transiting base station based on the position information of the absolute position AP of the transiting base station and generates second correction information. Once the generation unit 52a has generated the second correction information, it outputs the second correction information to the redefinition unit 52b. 【0109】 The generation unit 52a generates second correction information based on the second position information calculated by the redefinition unit 52b. However, if the second position information is not stored in the base station table, the generation unit 52a may obtain the position information of each reference point RP calculated by another management server or management system and judged to have relatively high positioning accuracy, via the server communication device 54. When the generation unit 52a obtains the position information of reference point RP from another management server or management system, it adopts this position information instead of the second position information. 【0110】 When the redefinition unit 52b obtains the second correction information from the generation unit 52a, it calculates the position information of the reference point RP of the base station based on the satellite signal received by the base station and the second correction information. At this time, the redefinition unit 52b stores the calculated position information of the reference point RP for a second set period (e.g., 24 hours) and discards the position information after the second set period has elapsed. The redefinition unit 52b also calculates the median or average value of the absolute position AP position information of the multiple base stations 61 that have been stored, and uses the result of this calculation as the second position information. The redefinition unit 52b stores the calculated position information of the absolute position AP (second absolute position AP2) of the base station 61 (second position information) and the second period t2 in the base station table. By repeatedly performing the above calculation of the second position information, the redefinition unit 52b maintains the latest state of the second position information of each base station 61 included in the base station table for each third set period. 【0111】 Furthermore, when the redefinition unit 52b stores the location information (second location information) of the absolute location AP (second absolute location AP2) of the base station 61 and the second time period t2 in the base station table, it may replace (update) the location information (first location information) of the first absolute location AP1 in the base station table with the location information (second location information) of the second absolute location AP2 that was calculated previously. In addition, the redefinition unit 52b replaces the reference time period t (first time period t1) of the first location information in the base station table with the previous reference time period t (second time period t2) of the second absolute location AP2. In this embodiment, since the third setting period is several months to about one year, the difference between the first time period t1 and the second time period t2 is also the third setting period (several months to about one year). Based on the above, the generation unit 52a can obtain first position information and second position information by referring to the base station table, and in response to a request from the work machine 1 (vehicle communication device 23), it can generate first correction information based on the first position information included in the base station table, while also generating second correction information based on the second position information included in the base station table. 【0112】 Specifically, the generation unit 52a generates correction information in response to a request for correction information from, for example, the work machine 1 (vehicle communication device 23). When the vehicle communication device 23 requests correction information from the server 51, it transmits request information including the vehicle position VP. The request information transmitted by the vehicle communication device 23 may also include identification information indicating the work machine 1 in addition to the position information of the vehicle position VP. Furthermore, the request information may include identification information indicating the positioning device 31 instead of, or in addition to, the identification information indicating the work machine 1. 【0113】 Therefore, the generation unit 52a generates first correction information and second correction information based on the vehicle position VP included in the request information received by the server communication device 54 from the vehicle communication device 23. Based on the vehicle position VP included in the request information and the position information (e.g., second position information) of each base station 61, the generation unit 52a selects the base station 61 closest to the work machine 1 and generates first position information of the base station 61 and first correction information based on the satellite signal received by this base station 61. 【0114】 Furthermore, the generation unit 52a selects three or more base stations 61 closest to the work machine 1 based on the vehicle position VP included in the request information and the second position information of the second absolute position AP2 of each base station 61, and generates second correction information based on the second position information of these base stations 61 and the satellite signals received by each base station 61. At this time, the generation unit 52a defines a virtual reference point VRP in the vicinity of the work machine 1 based on the vehicle position VP included in the request information, and generates second correction information. 【0115】 Furthermore, when the generation unit 52a generates correction information, the server 51 changes the reference time t for which the reference point RP is defined by changing the position information of the reference point RP included in the correction information. As shown in Figure 2, the server computing device 52 has an acquisition unit 52c and a modification unit 52d. In other words, the support system 101 for the work machine 1 includes an acquisition unit 52c and a modification unit 52d. The acquisition unit 52c and the modification unit 52d consist of one or more processors provided in the server computing device 52 and software programs stored in memory. 【0116】 The acquisition unit 52c acquires correction information. The acquisition unit 52c can acquire the correction information (first correction information, second correction information) generated by the generation unit 52a. 【0117】 Furthermore, the modification unit 52d can change the reference time t for which the position information is defined to a predetermined time by changing the position information of the reference point RP included in the correction information acquired by the acquisition unit 52c. The acquisition unit 52c acquires the correction information generated by the generation unit 52a in response to a request from the work machine 1 (vehicle body communication device 23), and the modification unit 52d changes the position information of the reference point RP included in the correction information. The modification unit 52d changes at least one of the position information (first position information) of the absolute position AP (first absolute position AP1) included in the first correction information and the position information of the virtual reference point VRP included in the second correction information, thereby changing the reference time t for these position information to a predetermined time. 【0118】 As described above, in the correction information generated by the generation unit 52a, the first correction information has a reference point RP which is the first absolute position AP1 of the base station 61, and the reference time t of the position information (first position information) of the first absolute position AP1 is the first time t1. On the other hand, in the second correction information, the reference point RP is a virtual reference point VRP, and the reference time t of the position information of the reference point RP (virtual reference point VRP) is the time when the virtual reference point VRP was defined (current t3). Therefore, in this embodiment, the modification unit 52d first changes the first position information of the first absolute position AP1 of the base station 61 included in the first correction information to position information (third position information) that is based on the current t3. Specifically, the modification unit 52d changes the position information of the first absolute position AP1 of the base station 61 included in the first correction information to position information (third position information) that is based on the current t3, based on the deviation between the first absolute position AP1 and the second absolute position AP2 of the base station 61. In the following explanation, the absolute position AP3, where the first position information is changed to the third position information by the modification unit 52d and the reference time t is currently t3, may be referred to as the "third absolute position". 【0119】 Figure 8 is the first diagram illustrating the modification of the reference point RP's position information by the modification unit 52d in the first embodiment. The modification unit 52d calculates the deviation between the position information of the base station 61's second absolute position AP2 (second position information) and the position information of the base station 61's first absolute position AP1 (first position information). For example, the modification unit 52d calculates a vector v1 from the first absolute position AP1 to the second absolute position AP2 as the deviation, based on the first position information and the second position information. The modification unit 52d also calculates the difference between the second period t2 and the first period t1 (the elapsed time from the first period t1 to the second period t2). The modification unit 52d calculates the amount of change (vector) per predetermined time by dividing the deviation by the elapsed time. 【0120】 The modification unit 52d calculates an estimated change (vector v2) from the first reference position to the base station 61's current absolute position AP (third absolute position AP3) at t3, based on the amount of change and the time from the first period t1 to the present t3. For example, the modification unit 52d calculates the elapsed time from the first period t1 to the present t3 and calculates the estimated change (vector v2) from the first reference position to the third absolute position AP3 by accumulating the change per predetermined time over the elapsed time. As shown in Figure 8, once the modification unit 52d calculates the amount of change, it adds the amount of change to the first position information included in the first correction information, thereby changing (shifting) the position information of the base station 61's first absolute position AP1 included in the first correction information to the position information of the third absolute position AP3 with respect to the present t3. 【0121】 Furthermore, the modification unit 52d modifies the position information of the reference point RP included in the correction information based on the deviation between the position information of the first time period t1 and the position information of the second time period t2 in the position of the work machine 1 or in the vicinity of the work machine 1, and changes the reference time t of the position information to the first time period t1, or to a third time period t0 that is earlier than the first time period t1. The third time period t0 is a predetermined time (date and time) set in advance. In particular, when the redefinition unit 52 updates the position information (first position information) of the first absolute position AP1 in the base station table, the modification unit 52d may change the reference time t of the position information of the reference point RP included in the correction information to the third time period t0. 【0122】 The following explanation describes the case where the modification unit 52d unifies the reference time t of the position information of the reference point RP of the first correction information and the second correction information to the current t3, and further changes the reference time t to the third time t0. 【0123】 Figure 9 is the second figure illustrating the modification of the reference point RP's position information by the modification unit 52d in the first embodiment. Figure 10 is the third figure illustrating the modification of the reference point RP's position information by the modification unit 52d in the first embodiment. Figure 9 shows the modification of the reference point RP (absolute position AP)'s position information included in the first correction information, and Figure 10 shows the modification of the virtual reference point VRP's position information included in the second correction information. 【0124】 The modification unit 52d selects the base station 61 closest to the work machine 1 based on the vehicle position VP included in the request information. Once the modification unit 52d has selected a base station 61, it calculates the deviation between the position information of the base station 61's first absolute position AP1 (first position information) and the position information of the base station 61's second absolute position AP2 (second position information). For example, the modification unit 52d calculates a vector v3 from the second absolute position AP2 to the first absolute position AP1 as the deviation, based on the first position information and the second position information. 【0125】 The modification unit 52d calculates the difference between the second period t2 and the first period t1 (the elapsed time from the first period t1 to the second period t2). The modification unit 52d calculates the amount of change per predetermined time (vector) by dividing the deviation by the elapsed time. Based on this amount of change and the time from the third period t0 to the present t3, the modification unit 52d calculates the estimated amount of change (vector v4) from the absolute position AP of the base station 61 at the present t3 (third absolute position AP3) to the absolute position AP of the base station 61 at the third period t0 (fourth absolute position AP4). For example, the modification unit 52d calculates the elapsed time from the third period t0 to the present t3 and calculates the estimated amount of change (vector v4) from the third reference position to the fourth absolute position AP4 by accumulating the amount of change per predetermined time over the elapsed time. 【0126】 Therefore, as shown in Figure 9, when the correction information is the first correction information, the modification unit 52d calculates the amount of change and adds the amount of change (vector v4) to the position information of the reference point RP included in the first correction information, thereby changing (shifting) the third position information of the reference point RP (third absolute position AP3) of the base station 61 included in the first correction information to the position information of the fourth absolute position AP4 with respect to the third time period t0. 【0127】 On the other hand, as shown in Figure 10, if the correction information is the second correction information, the modification unit 52d calculates the amount of change and adds the amount of change (vector v4) to the position information of the virtual reference point VRP included in the second correction information, thereby changing (shifting) the position information of the virtual reference point VRP included in the second correction information to position information based on the third time period t0. 【0128】 In the above explanation, the case in which the modification unit 52d changes the reference time t of the position information of the reference point RP of the correction information for each position to the third time period t0 was described. However, if the modification unit 52d changes the reference time t to the first time period t1, then the third time period t0 described above should be read as the first time period t1. 【0129】 Furthermore, if the distance between the position information of the reference point RP included in the correction information and the work machine 1 (vehicle body position VP) is relatively large, the modification unit 52d may again select the base station 61 closest to the work machine 1 and correct the position information of the reference point RP in each correction information based on the deviation (vector v3) between the second position information and the first position information at the base station 61. 【0130】 In the embodiment described above, the method for calculating the amount of change was explained using the deviation between the position information of the first period t1 and the position information of the second period t2 as an example. However, the modification unit 52d may calculate the amount of change by other methods, not by the deviation between the position information of the first period t1 and the position information of the second period t2. For example, the modification unit 52d may obtain the amount of change (e.g., crustal deformation) of the absolute position AP of each base station 61 for a predetermined period from an external management server, calculate the position information of the third absolute position AP3 and the fourth absolute position AP4 and each amount of change based on the amount of change, and change the position information of the reference point RP included in the correction information. 【0131】 Furthermore, the modification unit 52d may, after calculating the position information of the third absolute position AP3 and fourth absolute position AP4 of any of the base stations 61, perform relative positioning between that base station 61 and the other base stations 61, and then modify the position information of the reference point RP included in the correction information by calculating the position information of the third absolute position AP3 and fourth absolute position AP4 of the other base stations 61 and the respective change amounts. 【0132】 As described above, by changing the position information of the reference point RP included in the correction information at a predetermined time, the reference time t of each correction information is unified to a predetermined time (first time t1 or third time t0). As a result, the reference time t of the correction information used by the definition unit 42a when defining the map information MP also becomes the predetermined time. In other words, the predetermined time corresponds to the reference time t of the correction information used by the definition unit 42a when defining the map information MP. 【0133】 When the modification unit 52d unifies the reference timing t of each correction information to a predetermined timing (first timing t1 or third timing t0), the server 51 selects one of the correction information (first correction information and second correction information) with the unified reference timing t based on predetermined conditions. Thus, the server 51 selects one of the first correction information and second correction information as the correction information to be transmitted to the work machine 1. As shown in Figure 2, the server computing unit 52 has a selection unit 52e. In other words, the support system 101 for the work machine 1 includes a selection unit 52e. The selection unit 52e consists of one or more processors provided in the server computing unit 52, and software programs stored in memory. 【0134】 The selection unit 52e selects either the first correction information or the second correction information acquired by the acquisition unit 52c based on predetermined conditions (selection conditions). In other words, the selection unit 52e selects whether to have the positioning device 31 perform positioning using the RRS-GNSS method or the VRS-GNSS method based on the selection conditions. In this embodiment, the selection unit 52e selects either the first correction information or the second correction information as needed. For example, the selection unit 52e selects either correction information at predetermined time intervals. 【0135】 The following explains the selection conditions in detail. The selection unit 52e preferentially selects the second correction information (first selection condition) when the relative distance (baseline length D1) between the position indicated by the position information of the absolute position AP (fourth absolute position AP4) included in the first correction information and modified by the modification unit 52d, and the position indicated by the position information of the work machine 1, is greater than or equal to a predetermined set value d1. In other words, the selection unit 52e preferentially selects the first correction information when the baseline length D1 is less than the set value d1. 【0136】 The selection unit 52e calculates the baseline length D1 between the work machine 1 and the absolute position AP of the base station 61 closest to the work machine 1, based on the position information of the vehicle position VP obtained from the request information received by the server communication device 54 and the position information of the fourth absolute position AP4 included in the first correction information. After calculating the baseline length D1, the selection unit 52e determines whether the length of the baseline length D1 is less than the set value d1. 【0137】 The setting value d1 is defined according to the position calculation unit 33a. In other words, the setting value d1 is a value defined for each positioning device 31. Each setting value d1 is associated with each positioning device 31 and is pre-stored in the server storage device 53. In this embodiment, the server storage device 53 stores a baseline length table that associates the setting value d1 with the identification information of the positioning device 31. Therefore, the selection unit 52e obtains identification information indicating the positioning device 31 from the request information and obtains the setting value d1 corresponding to that identification information. 【0138】 Furthermore, the setting value d1 only needs to be defined and associated with at least each positioning device 31, and the setting value d1 in the baseline length table may be associated with identification information indicating the work machine 1, separate from the identification information of the positioning device 31. 【0139】 Furthermore, if the baseline length table of the server storage device 53 does not contain a setting value d1 corresponding to the identification information of the positioning device 31 included in the request information, the selection unit 52e acquires a predetermined value (for example, 5km) as a general-purpose setting value d1. Note that the value of the general-purpose setting value d1 is not limited to 5km and may be changed to any numerical value via an input interface such as a mobile terminal connected to the server 51 in a communicative manner. 【0140】 Furthermore, the selection unit 52e may select either the first or second correction information from the first and second correction information, depending on the positional relationship between the work machine 1 and the polygonal area E formed by connecting the absolute position APs of three or more base stations 61 closest to the work machine 1, i.e., the three base stations 61 used to generate the second correction information. For example, if the work machine 1 is located inside area E, the selection unit 52e will prioritize selecting the second correction information over the first correction information. In this case, if the work machine 1 is located outside area E, the selection unit 52e may prioritize selecting the first correction information over the second correction information (second selection condition). 【0141】 Specifically, the selection unit 52e obtains the vehicle position VP from the request information received by the server communication device 54 and refers to the absolute position APs (e.g., second absolute position AP2) and their position information (second position information) of the multiple base stations 61 used when generating the second correction information. That is, the selection unit 52e generates a polygonal area E connecting the second absolute position AP2s of the base stations 61 selected by the generation unit 52a as base stations 61 for positioning using the VRS-GNSS method, and determines whether the vehicle position VP is located outside of area E. More specifically, if the vehicle position VP is located on the outline of area E, the selection unit 52e determines that the work machine 1 is located inside area E. Alternatively, the selection unit 52e may determine that the work machine 1 is located outside area E if the vehicle position VP is located on the outline of area E. 【0142】 Furthermore, if the distance D2 of each of the second absolute position AP2s of three or more base stations 61 is less than the reference distance d2, the selection unit 52e may preferentially select the second correction information based on the satellite signal received by the three or more base stations 61 and the absolute position APs of the three or more base stations 61 (third selection condition). In this case, if the distance D2 of each of the second absolute position AP2s of the three or more base stations 61 is greater than or equal to the reference distance d2, the selection unit 52e may preferentially select the first correction information obtained from the base station 61 closest to the work machine 1 over other correction information. 【0143】 In this embodiment, the selection unit 52e calculates the distance D2 of each of the second absolute positions AP2 of three or more base stations 61 selected as base stations 61 for positioning using the VRS-GNSS method, i.e., the length of each side of the polygonal area E. After calculating the length of each side, the selection unit 52e determines whether the length of each side is less than the reference distance d2. 【0144】 The reference distance d2 is a value pre-stored in the server storage device 53, for example, 50 km. However, the value of the reference distance d2 is not limited to 50 km and may be changed to any number via an input interface that is communicatively connected to the server 51. 【0145】 In the above explanation, the case in which the selection unit 52e selects correction information based on the first to third selection conditions was described as an example. However, the selection unit 52e may select correction information based on one or more selection conditions, and the conditions are not limited to the example described above. 【0146】 When the selection unit 52e selects correction information, the server communication device 54 transmits the selected correction information to the vehicle communication device 23 that requested the correction information. When the vehicle communication device 23 receives the correction information, the position calculation unit 33a calculates (positions) the position information (vehicle position VP) of the work machine 1 using the correction information generated by the generation unit 52a in addition to the satellite signal received by the receiving device 32. That is, when the vehicle communication device 23 receives the first correction information, the position calculation unit 33a performs positioning using the RRS-GNSS method based on the satellite signal received by the receiving device 32 and the first correction information. On the other hand, when the vehicle communication device 23 receives the second correction information, the position calculation unit 33a performs positioning using the VRS-GNSS method based on the satellite signal received by the receiving device 32 and the second correction information. 【0147】 As described above, the server 51 (generation unit 52a) generates correction information based on the position information of a predetermined reference point RP, and the work machine 1 (position calculation unit 33a) can use this correction information to calculate (position) the vehicle body position VP. 【0148】 As a result, the position calculation unit 33a calculates the position information of the work machine 1 based on correction information that includes position information based on predetermined time periods (first time period t1, third time period t0) as the position information of the reference point RP. Furthermore, the position calculation unit 33a calculates the position information of the work machine 1 based on correction information that is selected by the selection unit 52e and also includes position information based on predetermined time periods (first time period t1, third time period t0). 【0149】 Figure 11 illustrates a series of processes performed by the modification unit 52d and the position calculation unit 33a, etc., in the support system 101 of the work machine 1 in the first embodiment. As shown in Figure 11, first, the work machine 1 (vehicle communication device 23) requests correction information from the server 51 (server communication device 54) (S1). Specifically, the vehicle communication device 23 transmits the request information to the server 51. 【0150】 When the server communication device 54 receives a request for correction information from the vehicle communication device 23 (S1), it generates correction information in response to the request (S2). Specifically, the generation unit 52a selects the base station 61 closest to the work machine 1 based on the vehicle position VP and the absolute position AP of each base station 61 included in the request information (e.g., second position information), and generates first position information of the base station 61 and first correction information based on the satellite signal received by this base station 61 (S2a). The generation unit 52a also selects three or more base stations 61 closest to the work machine 1 based on the vehicle position VP and the second position information of the absolute position AP of each base station 61 included in the request information, and generates second position information of these base stations 61 and second correction information based on the satellite signal received by each base station 61 (S2b). 【0151】 When the generation unit 52a generates correction information (S2), the acquisition unit 52c acquires the correction information (S3: first step). The acquisition unit 52c acquires both the first correction information and the second correction information. 【0152】 When the acquisition unit 52c acquires the correction information (S3), the modification unit 52d modifies the position information of the reference point RP included in the correction information (S4: second step). Specifically, the modification unit 52d modifies the position information of the reference point RP included in the first correction information, i.e., the position information of the first absolute position AP1 of the base station 61, based on the deviation between the first absolute position AP1 and the second absolute position AP2 of the base station 61, to position information based on the current time t3 (S4a). The modification unit 52d also modifies the position information of the reference point RP included in the correction information based on the deviation between the position information of the first time period t1 and the position information of the second time period t2 in the position of the work machine 1 or in the vicinity of the work machine 1 (S4b). As a result, the modification unit 52d modifies the reference time t of the position information of the reference point RP included in each correction information to the first time period t1, or to a third time period t0 that is earlier than the first time period t1. 【0153】 When the modification unit 52d modifies the position information of the reference point RP included in the correction information (S4), the selection unit 52e selects either the first correction information or the second correction information based on predetermined conditions (S5). For example, the selection unit 52e selects either the first correction information or the second correction information based on the first to third selection conditions. 【0154】 When the selection unit 52e selects correction information (S5), the server communication device 54 transmits the selected correction information to the vehicle communication device 23 that requested the correction information (S6). When the vehicle communication device 23 receives the correction information (S6), the receiving device 32 receives a satellite signal from the positioning satellite G (S7: third step). When the receiving device 32 receives the satellite signal (S7), the position calculation unit 33a calculates the position information of the work machine 1 based on the correction information, which includes position information based on a predetermined time as the position information of the reference point RP, and the satellite signal received by the receiving device 32 (S8: fourth step). The support device 20 then acquires the position information of the work machine 1 calculated by the position calculation unit 33a (S9), and uses the position information of the work machine 1 calculated by the position calculation unit 33a in the fourth step to support the movement and / or operation of the work machine 1 (S10: fifth step). 【0155】 The sequence of operations shown in Figure 11 described above is merely one example to illustrate the series of processes performed by the modification unit 52d and the position calculation unit 33a, etc., in the support system 101 of the work machine 1 in the first embodiment. The order and content of each process performed by the modification unit 52d and the position calculation unit 33a, etc., are not limited to the example shown in Figure 11 and may be changed as appropriate. 【0156】 [Second Embodiment] Figure 12 shows another embodiment (second embodiment) of the support system 101 for the work machine 1. In the first embodiment, the modification unit 21c of the support system 101 for the work machine 1 modified the position information of each reference point RP in both the first correction information and the second correction information. However, in the support system 101 for the work machine 1 of the second embodiment, if the correction information selected by the selection unit 52e is different from the correction information when the map information MP is defined, the modification unit 21c modifies the position information of the selected correction information. Specifically, if the definition unit 42a defines the map information MP based on one of the correction information, the first correction information or the second correction information, and the selection unit 52e selects the other correction information, the modification unit 21c modifies the position information of the reference point RP included in the other correction information. The modification unit 21c modifies the position information of the reference point RP included in the other correction information, according to the reference time t of the position information of the reference point RP included in one of the correction information, based on the deviation between the position information of the predetermined position calculated using the first correction information and the position information of the predetermined position calculated using the second correction information. 【0157】 As shown in Figure 12, the vehicle body control device 21 includes a deviation registration unit 21a, an acquisition unit 21b, and a modification unit 21c. That is, in the second embodiment, unlike the first embodiment, the acquisition unit 21b and the modification unit 21c are provided on the work machine 1 instead of the server 51. The deviation registration unit 21a, the acquisition unit 21b, and the modification unit 21c are composed of one or more processors provided on the vehicle body control device 21 and software programs stored in memory. 【0158】 The deviation registration unit 21a stores (stores) in the vehicle body storage device 22 the deviation between the position information of a predetermined position calculated using the first correction information (first calculation position VP1) and the position information of a predetermined position calculated using the second correction information (second calculation position VP2). The deviation registration unit 21a stores in the vehicle body storage device 22 at least one of the following as the deviation between the first calculation position VP1 and the second calculation position VP2: a vector v5 from the second calculation position VP2 to the first calculation position VP1, and a vector v6 from the first calculation position VP1 to the second calculation position VP2. 【0159】 The deviation registration unit 21a executes the deviation registration process when predetermined execution conditions are met. Specifically, the deviation registration unit 21a executes the registration process when the input interface receives a predetermined execution operation (first execution condition). 【0160】 In addition to the first execution condition, the execution conditions may also include, for example, that the running gear 5 is in a braking state (stopped state) by the braking device 7 (second execution condition), or that the vehicle speed is zero (third execution condition). Furthermore, the execution conditions are not limited to the first to third execution conditions, and may also include a condition that the satellite signal reception environment is appropriate, based on the health information (health status: SVhealth), signal strength, etc., of the satellite signal received by the receiving device 32 from the positioning satellite G. 【0161】 When the deviation registration unit 21a satisfies the execution conditions, it first requests first correction information and second correction information from the server 51 via the vehicle communication device 23. In the second embodiment, the generation unit 52a generates first correction information and second correction information in response to the request for correction information from the work machine 1 (vehicle communication device 23). Based on the vehicle position VP and the position information (first position information) of the absolute position AP of each base station 61 included in the request information, the generation unit 52a selects the base station 61 closest to the work machine 1 and generates first position information and first correction information based on the satellite signal received by this base station 61. 【0162】 Furthermore, the generation unit 52a selects three or more base stations 61 closest to the work machine 1 based on the vehicle position VP included in the request information and the first position information of the first absolute position AP1 of each base station 61, and generates second correction information based on the first position information of these base stations 61 and the satellite signals received by each base station 61. At this time, the generation unit 52a defines a virtual reference point VRP in the vicinity of the work machine 1 based on the vehicle position VP included in the request information and generates second correction information. 【0163】 When the generation unit 52a generates the first correction information and the second correction information, the server communication device 54 transmits the generated first correction information and the second correction information to the vehicle communication device 23 that requested the correction information. When the vehicle communication device 23 receives the correction information, the deviation registration unit 21a instructs the position calculation unit 33a to perform positioning using the first correction information and positioning using the second correction information. 【0164】 The position calculation unit 33a performs positioning using the RRS-GNSS method based on the satellite signal received by the receiving device 32 and the first correction information, and performs positioning using the VRS-GNSS method based on the satellite signal received by the receiving device 32 and the second correction information. The position calculation unit 33a outputs the vehicle position VP1 (first calculated position) calculated using the first correction information and the vehicle position VP2 (second calculated position) calculated using the second correction information to the deviation registration unit 21a. 【0165】 When the deviation registration unit 21a obtains the first calculation position VP1 and the second calculation position VP2 calculated by the position calculation unit 33a, it calculates the deviation between the first calculation position VP1 and the second calculation position VP2. For example, the deviation registration unit 21a calculates a vector v5 from the second calculation position VP2 to the first calculation position VP1 as the deviation, based on the first calculation position VP1 and the second calculation position VP2 (see Figure 13). Alternatively, the deviation registration unit 21a may calculate a vector v6 (the inverse vector of vector v5) from the first calculation position VP1 to the second calculation position VP2 as the deviation (see Figure 14). 【0166】 When the deviation registration unit 21a calculates a deviation, it stores the deviation in the vehicle body memory device 22. The vehicle body memory device 22 stores the deviation along with the time information that serves as the basis for the deviation. For example, the vehicle body memory device 22 stores the transmission date and time based on the transmission time of the second correction information used to calculate the second calculation position VP2, the date and time the satellite signal was received (reception date and time), or the date and time the position information was calculated, along with the deviation. 【0167】 Furthermore, the definition unit 42a of the second embodiment acquires the position information (vehicle body position VP) of the work machine 1 calculated by the position calculation unit 33a, along with the type of correction information (first correction information or second correction information) used to calculate the vehicle body position VP. For example, when the definition unit 42a defines map information MP, it stores (registers) the map information MP along with the type of correction information in the vehicle body storage device 22 or the like. 【0168】 When the vehicle body communication device 23 receives correction information selected by the selection unit 52e, the acquisition unit 21b acquires the correction information. The modification unit 21c also refers to the type of correction information associated with the map information MP. Specifically, the modification unit 21c refers to the map information MP held in the memory of the vehicle body control device 21 and refers to the type of correction information associated with the map information MP. 【0169】 If the type of correction information associated with the map information MP is different from the type of correction information selected by the selection unit 52e, the modification unit 21c modifies the position information of the reference point RP included in the correction information based on the deviation. On the other hand, if the type of correction information associated with the map information MP is the same as the type of correction information selected by the selection unit 52e, the modification unit 21c does not modify the position information of the reference point RP included in the correction information based on the deviation. 【0170】 Specifically, map information MP is defined based on the vehicle position VP calculated using the second correction information, and when the selection unit 52e selects the first correction information, the modification unit 21c modifies the first correction information received by the vehicle communication device 23 based on the deviation (see Figure 13). Here, the reference time t of the reference point RP of the first correction information is the first time t1, whereas the reference point RP of the second correction information is a virtual reference point VRP, and the reference time t of the position information of the virtual reference point VRP is the time when the virtual reference point VRP is defined (current t3). Therefore, based on the deviation (vector v5) between the first calculation position VP1, where the reference time t is the first time t1, and the second calculation position VP2, where the reference time t is currently t3, the modification unit 21c shifts the position information of the reference point RP of the first correction information, thereby changing the reference time t of the position information of the reference point RP of the first correction information (first position information) to the current t3. 【0171】 On the other hand, if the map information MP is defined based on the vehicle position VP calculated using the first correction information, and the selection unit 52e selects the second correction information, the modification unit 21c modifies the second correction information received by the vehicle communication device 23 based on the deviation (see Figure 14). As described above, the reference time t of the reference point RP of the first correction information is the first time period t1, whereas the reference point RP of the second correction information is a virtual reference point VRP, and the reference time t of the position information of the virtual reference point VRP is the time when the virtual reference point VRP is defined (currently t3). Therefore, based on the deviation (the inverse vector of vector v5, i.e., vector v6) between the first calculation position VP1, whose reference time t is the first time period t1, and the second calculation position VP2, whose reference time t is currently t3, the modification unit 21c shifts the position information of the reference point RP of the second correction information, thereby changing the reference time t of the position information of the virtual reference point VRP of the second correction information from currently t3 to the first time period t1. 【0172】 As a result, even if the type of correction information corresponding to the map information MP and the type of correction information selected by the selection unit 52e are different, the reference time t of the position information of the reference point RP included in these correction information can be unified to the first time t1 or the present t3. Therefore, the position calculation unit 33a calculates the position information of the work machine 1 based on the correction information which includes position information based on the reference time t (predetermined time) of the position information of the reference point included in the correction information corresponding to the map information MP. Furthermore, the position calculation unit 33a calculates the position information of the work machine 1 based on the correction information which is selected by the selection unit 52e and includes position information based on the predetermined time. 【0173】 The vehicle storage device 22 stores time information that serves as the basis for the deviation along with the deviation itself, but discards the deviation after a predetermined period (for example, one year) has elapsed from the time indicated by the time information. 【0174】 Figure 15 illustrates a series of processes performed by the modification unit 21c and the position calculation unit 33a, etc., in the support system 101 of the work machine 1 in the second embodiment. As shown in Figure 15, first, the work machine 1 (vehicle communication device 23) requests correction information from the server 51 (server communication device 54) (S21). Specifically, the vehicle communication device 23 transmits the request information to the server 51. 【0175】 When the server communication device 54 receives a request for correction information from the vehicle communication device 23 (S21), it generates correction information in response to the request (S22). Specifically, the generation unit 52a selects the base station 61 closest to the work machine 1 based on the vehicle position VP included in the request information and the first position information of the first absolute position AP1 of each base station 61, and generates first correction information based on the first position information of that base station 61 and the satellite signal received by that base station 61 (S22a). The generation unit 52a also selects three or more base stations 61 closest to the work machine 1 based on the vehicle position VP included in the request information and the first position information of the first absolute position AP1 of each base station 61, and generates second correction information based on the first position information of these base stations 61 and the satellite signal received by each base station 61 (S22b). 【0176】 When the generation unit 52a generates correction information (S22), the selection unit 52e selects either the first correction information or the second correction information based on predetermined conditions (S23). The selection unit 52e selects either the first correction information or the second correction information based, for example, on first to third selection conditions. In this case, unlike the selection unit 52e of the first embodiment, the selection unit 52e makes decisions on the second and third selection conditions based on the first position information of the first absolute position AP1 of the base station 61. 【0177】 When the selection unit 52e selects correction information (S23), the server communication device 54 transmits the selected correction information to the vehicle body communication device 23 that requested the correction information (S24). When the vehicle body communication device 23 receives the correction information (S24), the acquisition unit 21b acquires the correction information (S25: first step). 【0178】 When the acquisition unit 21b acquires correction information (S25), the modification unit 21c refers to the type of correction information associated with the map information MP and determines whether it is the same as the type of correction information acquired by the acquisition unit 21b (S26). If the modification unit 21c determines that the type of correction information associated with the map information MP and the type of correction information acquired by the acquisition unit 21b are not the same (S26: No), it modifies the position information of the reference point RP included in the correction information (S27: Second step). 【0179】 Specifically, the modification unit 21c modifies the correction information based on the deviation registered by the deviation registration unit 21a. More specifically, if the map information MP is defined based on the vehicle position VP calculated using the second correction information, and the selection unit 52e selects the first correction information, the modification unit 21c modifies the first correction information received by the vehicle communication device 23 based on the deviation, and changes the reference time t of the position information (first position information) of the reference point RP of the first correction information to the current time t3. On the other hand, if the map information MP is defined based on the vehicle position VP calculated using the first correction information, and the selection unit 52e selects the second correction information, the modification unit 21c modifies the second correction information received by the vehicle communication device 23 based on the deviation, and changes the reference time t of the position information of the virtual reference point VRP of the second correction information from the current time t3 to the first time t1. 【0180】 If the type of correction information associated with the map information MP and the type of correction information acquired by the acquisition unit 21b are the same (S26: Yes), and the modification unit 21c modifies the position information of the reference point RP included in the correction information (S27), the receiving device 32 receives a satellite signal from the positioning satellite G (S28: Third step). When the receiving device 32 receives the satellite signal (S28), the position calculation unit 33a calculates the position information of the work machine 1 based on the correction information which includes position information based on a predetermined time as the position information of the reference point RP, and the satellite signal received by the receiving device 32 (S29: Fourth step). Then, the support device 20 acquires the position information of the work machine 1 calculated by the position calculation unit 33a (S30), and using the position information of the work machine 1 calculated by the position calculation unit 33a in the fourth step, the support device 20 provides support for the movement and / or operation of the work machine 1 (S31: Fifth step). 【0181】 The sequence of operations shown in Figure 15 described above is merely one example to illustrate the series of processes performed by the modification unit 21c and the position calculation unit 33a, etc., in the support system 101 of the work machine 1 in the second embodiment. The order and content of each process performed by the modification unit 21c and the position calculation unit 33a, etc., are not limited to the example shown in Figure 15 and may be changed as appropriate. 【0182】 (Other variations) In the first and second embodiments described above, the support device 20 is described as a vehicle body control device 21 (control device) that performs automatic driving control of the work machine 1 based on the vehicle body position VP. However, the support device 20 is not limited to a vehicle body control device 21 that performs automatic driving control. That is, the support device 20 can be any device that assists the driving and / or operation of the work machine 1 based on the position information (vehicle body position VP) of the work machine 1 calculated (positioned) by the position calculation unit 33a. 【0183】 Specifically, for example, the support device 20 may be a vehicle control device 21 that performs automatic steering control, which automatically steers only the work machine 1 based on the vehicle position VP and the planned route R, instead of or in addition to automatic driving control. Alternatively, the support device 20 may be a display device 41 that displays the vehicle position VP based on the position information (vehicle position VP) of the work machine 1 calculated (positioned) by the position calculation unit 33a. In such a case, the display device 41 displays the position of the work machine 1 (current t3, or past position, etc.) on the map information MP (area map) based on the vehicle position VP calculated by the position calculation unit 33a and the map information MP stored in the display storage device 43 and including the work area. 【0184】 Furthermore, although the first and second embodiments described above describe a case where the receiving device 32 and the position calculation unit 33a are provided on the positioning device 31, the receiving device 32 and the position calculation unit 33a may be provided on different devices. For example, the position calculation unit 33a may be provided on a calculation processing unit outside the work machine 1. 【0185】 The first and second embodiments of the present invention provide a support system 101 for a work machine 1 and a support method for a work machine 1 as described in the following items. 【0186】 (Item 1) A support system 101 for a work machine 1 comprising: acquisition units 21b, 52c that acquire correction information including location information of a predetermined reference point RP and distance information between the reference point RP and a positioning satellite G; modification units 21c, 52d that can change the reference time t for which the location information is defined to a predetermined time by changing the location information of the reference point RP included in the correction information acquired by the acquisition units 21b, 52c; a receiving device 32 provided on the work machine 1 and capable of receiving satellite signals from the positioning satellite G; a position calculation unit 33a that calculates the position information of the work machine 1 based on the correction information including the position information of the reference point RP, which includes the position information based on the predetermined time, and the satellite signals received by the receiving device 32; and a support device 20 that uses the position information of the work machine 1 calculated by the position calculation unit 33a to support the movement and / or operation of the work machine 1. 【0187】 According to the support system 101 for the work machine 1 related to item 1, the modification units 21c and 52d change the reference timing t of the position information of each reference point RP to a predetermined time, thereby unifying the reference timing t of the position information of each reference point RP. Therefore, if the reference timing t in which the position information is defined is different, the position information at the same point will not match at each reference timing t, and the correspondence between the position information of the reference point RP and the distance information between the reference point RP and the positioning satellite G may not match in each correction information. However, by unifying the reference timing t, the discrepancy in the position information can be suppressed. Consequently, since the discrepancy in the above correspondence in each correction information can be suppressed, positional discrepancies in the positioning results using each correction information can be suppressed, and the support device 20 can accurately and appropriately support the driving and / or work of the work machine 1. 【0188】 (Item 2) The correction information includes first correction information in which the reference point RP is the absolute position AP of a predetermined base station 61, and second correction information in which the reference point RP is a predetermined virtual reference point VRP, and the modification units 21c and 52d modify at least one of the position information of the absolute position AP included in the first correction information and the position information of the virtual reference point VRP included in the second correction information to change the reference timing t of these position information to the predetermined timing, the support system 101 for the work machine 1 according to item 1. 【0189】 According to the support system 101 for the work machine 1 related to item 2, the reference time t for the position information of the virtual reference point VRP is the time when the virtual reference point VRP is defined, and may differ from the reference time t for the position information of the absolute position AP of the base station 61. However, the reference time t for the absolute position AP of the base station 61 and the reference time t for the virtual reference point VRP can be unified to a predetermined time. Therefore, it is possible to suppress the positional discrepancy between the position information of the work machine 1 calculated using the first correction information and the position information of the work machine 1 calculated using the second correction information. 【0190】 (Item 3) The support system 101 for the work machine 1 described in item 2 includes a selection unit 52e that selects either the first correction information or the second correction information acquired by the acquisition units 21b and 52c based on predetermined conditions, and the position calculation unit 33a calculates the position information of the work machine 1 based on the correction information selected by the selection unit 52e and which includes position information based on the predetermined time. 【0191】 According to the support system 101 for the work machine 1 related to item 3, even if the correction information used by the position calculation unit 33a when calculating the position information of the work machine 1 is changed from one of the first correction information and the second correction information to the other as the selection unit 52e selects correction information based on predetermined conditions, the positional shift of the position information of the work machine 1 can be suppressed before and after the change. Therefore, the support device 20 can accurately and appropriately continue to support the movement and / or operation of the work machine 1. 【0192】 (Item 4) The support system 101 for the work machine 1 described in item 3 comprises a definition unit 42a that defines map information MP indicating an area in which the work machine 1 travels and / or performs work, based on position information calculated using the first correction information or the second correction information, the support device 20 performs the support based on the map information MP defined by the definition unit 42a and the position information of the work machine 1 calculated by the position calculation unit 33a, and the predetermined time corresponds to the reference time t of the correction information used when the definition unit 42a defined the map information MP. 【0193】 According to the support system 101 for the work machine 1 related to item 4, the modification units 21c and 52d change the reference timing t of the correction information used to calculate the position information of the work machine 1 according to the reference timing t of the correction information used when the map information MP was defined. This suppresses the positional discrepancy between the position information of the work machine 1 and the position information of each point in the map information MP. Therefore, the support device 20 can accurately and appropriately support the movement and / or operation of the work machine 1 based on the predefined map information MP. 【0194】 (Item 5) A support system 101 for a work machine 1 according to any one of items 2 to 4, comprising a generation unit 52a that generates first correction information based on the position information of the first absolute position AP1 of the base station 61 with a predetermined first time period t1 as the reference time period t, and generates second correction information based on the position information of the second absolute position AP2 of the base station 61 with a predetermined second time period t2 that is later than the first time period t1 as the reference time period t, the acquisition unit 52c acquires the first correction information and the second correction information generated by the generation unit 52a, and the modification unit 52d modifies the position information of the first absolute position AP1 of the base station 61 included in the first correction information to position information with current t3 as the reference time based on the deviation between the first absolute position AP1 and the second absolute position AP2 of the base station 61. 【0195】 According to the support system 101 for the work machine 1 related to item 5, the modification unit 52d can unify the position information of the absolute position AP of the base station 61 to the position information based on the current time t3, even if the absolute position AP of the base station 61 physically changes due to crustal deformation, etc., between the time of the first time period t1 and the time of the second time period t2, i.e., even if the absolute position AP of the base station 61 physically changes. As a result, even if the absolute position AP of the base station 61 physically changes, the effects of the change can be suppressed, and the support device 20 can accurately and appropriately support the movement and work of the work machine 1. 【0196】 (Item 6) The position information of the second absolute position AP2 of the base station 61 is the position information of the absolute position AP of the base station 61 calculated using the second correction information at the second time t2, as described in item 5 of the support system 101 for the work machine 1. 【0197】 According to the support system 101 of the work machine 1 related to item 6, the reference time t for the position information of the virtual reference point VRP is the time when the virtual reference point VRP was defined. Therefore, the position information of the second absolute position AP2 can be defined as the position information of a relatively recent reference time t. For this reason, even if crustal deformation or the like occurs, the position information of the absolute position AP of the base station 61 can be unified while taking into account the deformation up to the present time. 【0198】 (Item 7) The modification unit 52d modifies the position information of the reference point RP included in the correction information based on the deviation between the position information of the first time period t1 and the position information of the second time period t2 in the position of the work machine 1 or in the vicinity of the work machine 1, and changes the reference time t of the position information to the first time period t1, or to a third time period t0 earlier than the first time period t1, as described in item 5 or 6 of the work machine 1 support system 101. 【0199】 According to the support system 101 for the work machine 1 related to item 7, the modification unit 52d can unify the position information of the absolute position AP of the base station 61 to the past first period t1 and third period t0, while taking into account the fluctuations in the position information of the absolute position AP of the base station 61 due to crustal deformation etc. from the first period t1 to the second period t2. Therefore, the support device 20 can utilize position information defined based on the period t1, t0 and later, based on position information defined based on past periods t1, t0. Therefore, the support device 20 can accurately and appropriately support the movement and / or work of the work machine 1. 【0200】 (Item 8) The selection unit 52e preferentially selects the second correction information when the relative distance between the position indicated by the position information of the absolute position AP, which is included in the first correction information and modified by the modification unit 52d, and the position indicated by the position information of the work machine 1 is greater than or equal to a predetermined setting value d1, and the setting value d1 is the work machine 1 support system 101 described in item 5 which references item 3 defined according to the position calculation unit 33a, or item 5 or 6 which references item 5. 【0201】 According to the support system 101 for the work machine 1 related to item 8, the relative distance at which errors can be tolerated may differ depending on the specifications of the position calculation unit 33a. However, the first correction information and the second correction information can be appropriately selected according to the specifications of the position calculation unit 33a. Therefore, the selection unit 52e can select appropriate first correction information and second correction information for position calculation units 33a with various specifications, thereby improving positioning accuracy. 【0202】 (Item 9) If the definition unit 42a defines the map information MP based on one of the first correction information and the second correction information, and the selection unit 52e selects the other correction information, the modification units 21c and 52d modify the position information of the reference point RP included in the other correction information according to the reference time t of the position information of the reference point RP included in the one correction information, based on the deviation between the position information of the predetermined position calculated using the first correction information and the position information of the predetermined position calculated using the second correction information, as described in item 4 of the support system 101 for the work machine 1. 【0203】 According to the support system 101 for the work machine 1 related to item 9, even if the correction information used when the map information MP was defined and the correction information used by the position calculation unit 33a to calculate the position information of the work machine 1 differ between the first correction information and the second correction information, the positional discrepancy between the position information of the work machine 1 and the position information at each point in the map information MP can be suppressed. Therefore, the support device 20 can accurately and appropriately support the movement and / or operation of the work machine 1 based on the predefined map information MP. 【0204】 (Item 10) A method for supporting a work machine 1, comprising: a first step in which acquisition units 21b, 52c acquire correction information including location information of a predetermined reference point RP and distance information between the reference point RP and a positioning satellite G; a second step in which modification units 21c, 52d modify the location information of the reference point RP included in the correction information acquired by the acquisition units 21b, 52c in the first step, thereby changing the reference time t for which the location information is defined to a predetermined time; a third step in which a receiving device 32 provided on the work machine 1 receives a satellite signal from the positioning satellite G; a fourth step in which a position calculation unit 33a calculates the position information of the work machine 1 based on the correction information including the position information of the reference point RP, which includes position information based on the predetermined time, and the satellite signal received by the receiving device 32; and a fifth step in which a support device 20 supports the movement and / or operation of the work machine 1 using the position information of the work machine 1 calculated by the position calculation unit 33a in the fourth step. 【0205】 According to the support method for the work machine 1 related to item 10, the modification units 21c and 52d change the reference timing t of the position information of each reference point RP to a predetermined time, thereby unifying the reference timing t of the position information of each reference point RP. Therefore, if the reference timing t in which the position information is defined is different, the position information at the same point will not match at each reference timing t, and the correspondence between the position information of the reference point RP and the distance information between the reference point RP and the positioning satellite G may not match in each correction information. However, by unifying the reference timing t, the discrepancy in the position information can be suppressed. Consequently, since the discrepancy in the above correspondence in each correction information can be suppressed, positional discrepancies in the positioning results using each correction information can be suppressed, and the support device 20 can accurately and appropriately support the driving and / or work of the work machine 1. 【0206】 Although the present invention has been described above, the embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims rather than by the foregoing description, and all modifications within the meaning and scope equivalent to the claims are intended to be included. [Explanation of Symbols] 【0207】 1: Work machine 20: Support equipment 21b: Acquisition part 21c: Changes 32: Receiving device 33a: Position calculation section 42a: Definition part 52a: Generation part 52c: Acquisition part 52d: Changes 52e: Selection section 61:Base station 101: Support System AP: Absolute Position AP1: First absolute position AP2: Second absolute position G: Positioning satellite MP: Map Information RP:Reference point VRP: Virtual Reference Point d1: Setting value t :Reference time t0: 3rd period t1: 1st period t2: 2nd period t3: Currently

Claims

[Claim 1] An acquisition unit that acquires correction information including the position information of a predetermined reference point and the distance information between the reference point and the positioning satellite, A modification unit that can change the reference time for which the position information is defined to a predetermined time by changing the position information of the reference point included in the correction information acquired by the acquisition unit, A receiving device provided on the work machine and capable of receiving satellite signals from the positioning satellite, A position calculation unit calculates the position information of the work machine based on the correction information, which includes position information based on the predetermined time, and the satellite signal received by the receiving device, as position information of the reference point. A support device that uses the position information of the work machine calculated by the position calculation unit to assist in the movement and / or operation of the work machine, A support system for work machines equipped with this system. [Claim 2] The correction information includes first correction information in which the reference point is the absolute position of a predetermined base station, and second correction information in which the reference point is a predetermined virtual reference point. The support system for a work machine according to claim 1, wherein the modification unit modifies at least one of the position information of the absolute position included in the first correction information and the position information of the virtual reference point included in the second correction information to change the reference timing of these position information to the predetermined timing. [Claim 3] The acquisition unit includes a selection unit that selects either the first correction information or the second correction information acquired by the acquisition unit based on predetermined conditions. The work machine support system according to claim 2, wherein the position calculation unit calculates the position information of the work machine based on the correction information, which is the correction information selected by the selection unit and includes position information based on a predetermined time. [Claim 4] The system includes a definition unit that defines map information indicating the area in which the work machine travels and / or performs work, based on position information calculated using the first correction information or the second correction information. The support device performs the support based on the map information defined by the definition unit and the position information of the work machine calculated by the position calculation unit. The support system for a work machine according to claim 3, wherein the predetermined time corresponds to the reference time of the correction information used by the definition unit when defining the map information. [Claim 5] The system includes a generation unit that generates first correction information based on location information of the first absolute position of the base station with a predetermined first time period as the reference time, and generates second correction information based on location information of the second absolute position of the base station with a predetermined second time period later than the first time period as the reference time, The acquisition unit acquires the first correction information and the second correction information generated by the generation unit. The support system for a work machine according to any one of claims 2 to 4, wherein the modification unit changes the position information of the first absolute position of the base station included in the first correction information to position information based on the current based on the deviation between the first absolute position and the second absolute position of the base station. [Claim 6] The work machine support system according to claim 5, wherein the position information of the second absolute position of the base station is the position information of the absolute position of the base station calculated using the second correction information at the second time. [Claim 7] The support system for a work machine according to claim 5, wherein the modification unit modifies the position information of the reference point included in the correction information based on the position of the work machine or the deviation between the position information of the first time period and the position information of the second time period in the vicinity of the work machine, and modifies the reference time of the position information to the first time period or a third time period earlier than the first time period. [Claim 8] The selection unit, under the predetermined conditions, selects the second correction information preferentially when the relative distance between the position indicated by the absolute position information included in the first correction information and modified by the modification unit and the position indicated by the work machine position information is greater than or equal to a predetermined set value. The support system for a work machine according to claim 5, which references claim 3, wherein the set value is defined according to the position calculation unit. [Claim 9] If the definition unit defines the map information based on one of the first correction information and the second correction information, and the selection unit selects the other correction information, The support system for a work machine according to claim 4, wherein the modification unit modifies the position information of the reference point included in the other correction information according to the reference timing of the position information of the reference point included in the one correction information, based on the deviation between the position information of the predetermined position calculated using the first correction information and the position information of the predetermined position calculated using the second correction information. [Claim 10] The first step involves the acquisition unit acquiring correction information including the position information of a predetermined reference point and the distance information between the reference point and the positioning satellite. The second step involves the modification unit modifying the position information of the reference point included in the correction information acquired by the acquisition unit in the first step, thereby changing the reference time for which the position information is defined to a predetermined time. A third step involves a receiving device installed on the work machine receiving satellite signals from the positioning satellite, A fourth step in which the position calculation unit calculates the position information of the work machine based on the correction information, which includes position information based on the predetermined time, and the satellite signal received by the receiving device, as position information of the reference point. A fifth step in which the support device uses the position information of the work machine calculated by the position calculation unit in the fourth step to support the movement and / or operation of the work machine, A method of assisting a work machine that includes this.

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