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

Abstract

Operators can better understand the positioning accuracy of positioning using satellite signals. [Solution] The support system for the work machine includes: a receiving device installed on the work machine and capable of receiving satellite signals from multiple positioning satellites; a first calculation unit that calculates the position of the work machine using the satellite signals received by the receiving device; a second calculation unit that calculates accuracy index information of the calculation result of the first calculation unit based on the satellite signals received by the receiving device; an acquisition unit that acquires satellite signals received from positioning satellites by one or more base stations; an estimation unit that estimates accuracy index information around the work machine based on the satellite signals acquired by the acquisition unit; and a notification device that provides a predetermined notification according to the degree of discrepancy between the accuracy index information calculated by the second calculation unit and the accuracy index information estimated by the estimation unit.

Description

【Technical Field】 【0001】 The present invention relates to a support system for a working machine and a method for supporting a working machine. 【Background Art】 【0002】 The automatic steering system disclosed in Patent Document 1 includes a positioning processing unit that measures the position of a working machine, a steering processing unit that causes the working machine to perform automatic steering based on position information indicating the position of the measured working machine, a limit processing unit that permits a predetermined process related to automatic steering when the positioning position accuracy is within an allowable range, and an operation display unit that displays a display screen that discriminately shows the number of currently captured satellites, the current position accuracy with respect to the allowable range, and the like. 【Prior Art Documents】 【Patent Documents】 【0003】 【Patent Document 1】 Japanese Unexamined Patent Application Publication No. 2024-116593 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0004】 In Patent Document 1, the number and position accuracy of satellites (positioning satellites) can be displayed on a display screen. However, when the number of currently captured positioning satellites is relatively small and the position accuracy (positioning accuracy) is low, even if the operator checks the number and position accuracy of the positioning satellites, the operator cannot determine whether there is room for improvement in the positioning accuracy. 【0005】 The present invention has been made to solve such problems of the prior art, and an object thereof is to provide a support system for a working machine and a method for supporting a working machine that enable an operator to more appropriately grasp the positioning accuracy of positioning using satellite signals. 【Means for Solving the Problems】 【0006】 A support system for a work machine according to one aspect of the present invention includes: a receiving device provided on the work machine and capable of receiving satellite signals from a plurality of positioning satellites; a first calculation unit that calculates the position of the work machine using the satellite signals received by the receiving device; a second calculation unit that calculates accuracy index information of the calculation result of the first calculation unit based on the satellite signals received by the receiving device; an acquisition unit that acquires the satellite signals received from the positioning satellites by one or more base stations; an estimation unit that estimates the accuracy index information in the vicinity of the work machine based on the satellite signals acquired by the acquisition unit; and a notification device that provides a predetermined notification according to the degree of discrepancy between the accuracy index information calculated by the second calculation unit and the accuracy index information estimated by the estimation unit. 【0007】 A method for supporting a work machine according to one aspect of the present invention includes: a first step in which a receiving device provided on the work machine receives satellite signals from one or more positioning satellites; a second step in which a first calculation unit calculates the position of the work machine using the satellite signals received by the receiving device in the first step; a third step in which a second calculation unit calculates accuracy index information of the calculation result in the second step based on the satellite signals received by the receiving device in the first step; a fourth step in which an acquisition unit acquires the satellite signals received from the positioning satellites by one or more base stations; a fifth step in which an estimation unit estimates the accuracy index information around the work machine based on the satellite signals acquired by the acquisition unit in the fourth step; and a sixth step in which a notification device makes a predetermined notification according to the degree of discrepancy between the accuracy index information calculated by the second calculation unit in the third step and the accuracy index information estimated by the estimation unit in the fifth step. [Effects of the Invention] 【0008】 According to the above-described support system and support method for the work machine, the operator can more appropriately grasp the positioning accuracy of positioning using satellite signals. [Brief explanation of the drawing] 【0009】 [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] This is a diagram showing an example of a planned route. [Figure 5] This figure shows an example of a status display screen in the first embodiment. [Figure 6] This figure shows another example of the status display screen in the first embodiment. [Figure 7] This figure shows another example of the status display screen in the first embodiment. [Figure 8] This diagram illustrates a series of steps in the support system for a work machine in the first embodiment, in which a communication device calculates the degree of deviation and a notification device provides notification according to that degree of deviation. [Figure 9] This is a block diagram of the support system for the work machine in the second embodiment. [Figure 10] This figure shows an example of a status display screen in the second embodiment. [Figure 11] This figure shows another example of the status display screen in the second embodiment. [Figure 12] This figure shows another example of the status display screen in the second embodiment. [Figure 13] This diagram illustrates a series of steps in the support system for a work machine in the second embodiment, in which the server calculates the degree of deviation and the notification device provides notification according to that degree of deviation. [Modes for carrying out the invention] 【0010】 [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 working machine 1. FIG. 2 is a block diagram of the support system 101 for the working machine 1. As shown in FIGS. 1 and 2, the support system 101 for the working machine 1 includes a working machine 1 that detects (performs positioning) its own position VP (vehicle body position) based on a satellite signal transmitted from a positioning satellite G (a signal including orbit information of the positioning satellite G, the transmission time when the positioning satellite G transmits the satellite signal, etc.). 【0011】 In addition, the support system 101 for the working machine 1 includes a server 51. The server 51 in 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. The server 51 can generate correction information for performing positioning by the RTK (Real Time Kinematic) method by using the acquired satellite signals. The server 51 transmits the generated correction information to the working machine 1, and the working machine 1 can perform positioning by the RTK method based on the received correction information. 【0012】 Based on the measured vehicle body position VP, the working machine 1 can operate by automatic driving control, for example, along a planned travel route R. Note that the working machine 1 does not necessarily have to operate by automatic driving control using the vehicle body position VP, and instead of or in addition to the automatic driving control, it may be able to operate by automatic steering control that automatically performs only steering. In the present embodiment, a case where the working machine 1 can operate by automatic driving control based on the vehicle body position VP will be described as an example. 【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 taking a tractor as an example, but the working machine 1 is not limited to a 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 equipment 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 roll bar 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 that it can travel. The traveling device 5 applies a driving 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 a pair spaced apart in the width direction. Examples of the wheels 6 include wheel-mounted wheels composed of 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 disc-type braking mechanism and can change the braking force. 【0017】 As shown in FIG. 3, the working machine 1 includes a connecting device 8. The connecting device 8 is a device for detaching and attaching a working device 9. The connecting device 8 is provided at the front part and / or the rear part of the traveling vehicle body 2. In the example shown in FIG. 3, the connecting device 8 is provided at the rear part of the traveling vehicle body 2. Therefore, the working machine 1 can be connected to the working device 9 by the connecting device 8 and move together with the working device 9. In the present embodiment, the connecting device 8 is a lifting device composed of a three-point link mechanism or the like. Note that the connecting device 8 is not limited to a lifting device and may be composed of, 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. 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 31. The vehicle communication device 31 is the communication interface of the work machine 1 and includes a communication circuit. The vehicle communication device 31 can communicate with the outside (for example, a relay terminal or server 51 described later) and inputs and outputs (sends and receives) various information, data, and signals. In the following description, the vehicle communication device 31 may be simply referred to as the "communication device". 【0032】 As shown in Figure 2, the vehicle communication device 31 includes a communication antenna 32, a communication control device 33, and a communication storage device 34. The communication antenna 32 is an antenna for wireless communication using a mobile phone communication network, a data communication network, 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. 【0033】 The communication control device 33 is a processing circuit that includes one or more processors. The communication control device 33 is a controller for the vehicle body communication device 31 and performs various controls related to the vehicle body communication device 31. The communication 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 communication 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. 【0034】 Furthermore, as described in the vehicle body control device 21, the communication 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 communication 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 configuration described above. 【0035】 The communication storage device 34 stores various types of information and data in a read-write manner. The communication storage device 34 includes non-volatile memory such as an HDD or SSD. The communication storage device 34 is connected to the communication control device 33 in a communication manner, and the communication control device 33 can acquire various types of information and data stored in the communication storage device 34. 【0036】 The vehicle communication device 31 can communicate with the server 51 directly or indirectly. In this embodiment, the vehicle communication device 31 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 71, which will be described later. The vehicle communication device 31 communicates with the mobile terminal 71 via Wi-Fi®, and the mobile terminal 71 communicates with the server 51 via a mobile phone network. The vehicle communication device 31 requests correction information from the server 51 via the mobile terminal 71, for example, and receives the correction information from the server 51 via the mobile terminal 71. The vehicle communication device 31 outputs the received correction information to the positioning device 41, which will be described later. The vehicle communication device 31 requests correction information at predetermined time intervals. 【0037】 As shown in Figure 2, the work machine 1 is equipped with a positioning device 41. The positioning device 41 is a device that determines the position VP (vehicle body position) of the work machine 1 based on satellite signals received from positioning satellite G. The positioning device 41 includes a receiving device 42, a positioning control device 43, and a positioning storage device 44. 【0038】 The receiving device 42 is a device capable of receiving satellite signals from multiple positioning satellites G. The receiving device 42 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). 【0039】 The receiving device 42 is a GNSS antenna that receives satellite signals. The receiving device 42 is installed on the work machine 1 and, in this embodiment, is mounted on a housing that houses other devices of the positioning device 41 (such as the positioning control device 43 and the positioning memory device 44). This housing (positioning device 41) is, for example, located on top of the protection mechanism 4. 【0040】 The positioning control device 43 is a processing circuit that includes one or more processors. The positioning control device 43 is a controller of the positioning device 41 and performs various controls on the positioning device 41. The positioning control device 43 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 43 can read software programs from one or more memories using one or more processors and execute various processes based on those software programs. 【0041】 Furthermore, as described in the vehicle body control device 21, the positioning control device 43 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 43 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. 【0042】 The positioning storage device 44 stores various types of information and data in a read-write manner. The positioning storage device 44 includes non-volatile memory such as an HDD or SSD. The positioning storage device 44 is communicated with the positioning control device 43, and the positioning control device 43 can acquire various types of information and data stored in the positioning storage device 44. For example, the positioning storage device 44 stores identification information indicating the model number of the positioning device 41. 【0043】 As shown in Figure 2, the positioning control device 43 has a first calculation unit 43a. In other words, the first calculation unit 43a is provided in the positioning device 41. The first calculation unit 43a consists of one or more processors provided in the positioning control device 43, and software programs stored in memory. 【0044】 The first calculation unit 43a calculates (positions) the position VP (vehicle body position) of the work machine 1 using the satellite signal received by the receiving device 42. The vehicle body position VP is positional information such as data indicated by latitude, longitude, and altitude, or data indicated by coordinates (X axis, Y axis, Z axis). The vehicle body position VP may be, for example, the position of the receiving device 42 (antenna position), or it may be another position different from the antenna position. When the first calculation unit 43a calculates a position different from the antenna position as the vehicle body position VP, it corrects the antenna position based on dimensional information (distance information between the antenna position and the vehicle body position VP) that is stored in advance in the positioning memory device 44. In this embodiment, the case where the vehicle body position VP is the antenna position will be described as an example. 【0045】 The first calculation unit 43a determines the vehicle position VP using the RTK method based on the satellite signal received by the receiving device 42 and the correction information received by the vehicle communication device 31. When the vehicle communication device 31 receives correction information from the server 51, the first calculation unit 43a acquires the correction information and determines the position using the RRS (Real Reference Station)-GNSS (Global Navigation Satellite System) method or the VRS (Virtual Reference Station)-GNSS method based on the satellite signal and the correction information. 【0046】 When the first calculation unit 43a performs positioning using the RRS-GNSS method, the correction information includes, for example, the position information of the reference point RP (absolute position) of the base station 61 and the distance information between the reference point RP and the positioning satellite G. When the first calculation unit 43a performs positioning using the VRS-GNSS method, the correction information includes, for example, the position information of a virtual reference point VRP virtually defined in the vicinity of the work machine 1 and the distance information between the virtual reference point VRP and the positioning satellite G. 【0047】 In the following explanation, the correction information used in positioning using the RRS-GNSS method is sometimes referred to as the first correction information, and the correction information used in positioning using the VRS-GNSS method is sometimes referred to as the second correction information. 【0048】 Furthermore, the first calculation unit 43a may be capable of independent positioning based on satellite signals received by the receiving device 42, in addition to positioning by the RTK method. 【0049】 Furthermore, if the positioning device 41 has multiple receiving devices 42, the first calculation unit 43a may calculate the direction (vehicle direction) of the moving vehicle body 2 based on the position of each antenna that has been measured. 【0050】 Furthermore, the positioning device 41 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 first calculation unit 43a uses the information detected by the inertial measurement unit to supplement the position information determined by the satellite signal received by the receiving device 42. 【0051】 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. 【0052】 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. 【0053】 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. 【0054】 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 15a 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. 【0055】 The vehicle control device 21 acquires the vehicle position VP determined by the positioning device 41 and performs automatic driving control based on the vehicle position VP. Based on the predetermined vehicle position VP of the work machine 1 and a predefined route to be traveled (planned travel route R), the vehicle control device 21 performs automatic driving control and causes the work machine 1 in automatic mode to travel along the planned travel route R. 【0056】 Figure 4 shows an example of a planned route R. The planned route R is the path that the work machine 1 will automatically travel by automatic driving control. The planned 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 turn. The planned route R is stored in the vehicle storage device 22 or memory. The planned route R may be stored in advance in the vehicle storage device 22, etc., or it may be defined based on the vehicle position VP determined by the positioning device 41 when the work machine 1 actually travels, or the vehicle communication device 31 may receive the planned route R managed externally (server 51). 【0057】 The vehicle control device 21 maintains the steering angle of the steering device 16 when the vehicle position VP is located on the planned route R, and changes the steering angle of the steering device 16 so that the vehicle position VP moves closer to the planned route R (so that the position deviation approaches zero) when the vehicle position VP is deviated from the planned route R (the position deviation between the planned route R and the vehicle position VP is greater than a predetermined value). 【0058】 Furthermore, if the positioning device 41 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. 【0059】 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 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 equipment 1 (traveling vehicle body 2), or control the coupling device 8 to raise or lower the work equipment 9. 【0060】 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. 【0061】 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. 【0062】 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. 【0063】 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 the identification information of each base station 61 and the location information of the reference point RP of that base station 61 in association with each other. 【0064】 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. 【0065】 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 31, the server communication device 54 in this embodiment communicates indirectly with the work machine 1 (vehicle body communication device 31) 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. 【0066】 Next, the base station 61 will be described. The base station 61 is installed at a predetermined reference point RP and receives satellite signals from the positioning satellite G. The base station 61 is a fixed base station 61 installed at a predetermined reference point RP (absolute position) 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 E (for example, an area including a work area such as a field H) where the work machine 1 travels by automatic driving control. 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. 【0067】 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. 【0068】 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. 【0069】 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 connected to the base arithmetic unit 62 in a communicative manner, and the base arithmetic unit 62 can acquire 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 the reference point RP. 【0070】 The base station receiving device 64 is a device capable of receiving satellite signals from multiple positioning satellites G. Similar to the receiving device 42 described above, the base station receiving device 64 can receive satellite signals from positioning satellites G of the satellite positioning system 102. The base station receiving device 64 is a GNSS antenna that receives satellite signals. 【0071】 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). 【0072】 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. 【0073】 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 observation information by adding its own identification information (e.g., a predetermined string) and the reception time when the base station receiving device 64 received the satellite signal to the satellite signal. Alternatively, the base station computing device 62 may define observation information by adding its own reference point RP (specifically, the position information of the reference point RP) to the satellite signal. 【0074】 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. 【0075】 For example, the server storage device 53 stores observation information including satellite signals received by one base station 61 from one positioning satellite G, and observation information including satellite signals received by other base stations 61 from one positioning satellite G. Furthermore, the server storage device 53 stores observation information including satellite signals received by one base station 61 from one positioning satellite G, and observation information including satellite signals received by one base station 61 from other positioning satellite Gs. This allows the server storage device 53 to individually store satellite signals (observation information) from each positioning satellite G received at each reference point RP. 【0076】 The server storage device 53 may discard stored observation information in a timely manner based on the transmission time, reception time, etc., included in the observation information. 【0077】 The following describes the process by which the server computing device 52 generates correction information based on observation information in response to a request from the vehicle communication device 31. As shown in Figure 2, the server computing device 52 has an acquisition unit 52a and a generation unit 52b. In other words, the acquisition unit 52a and the generation unit 52b are provided on the server 51. The acquisition unit 52a and the generation unit 52b consist of one or more processors provided on the server computing device 52 and software programs stored in memory. 【0078】 The acquisition unit 52a acquires satellite signals received by one or more base stations 61 from positioning satellite G. Specifically, the acquisition unit 52a acquires satellite signals from observation information received by the server communication device 54 via the base station communication device 65. In this embodiment, the acquisition unit 52a acquires satellite signals from desired observation information by referring to observation information stored in the server storage device 53. 【0079】 The generation unit 52b generates correction information based on the satellite signal acquired by the acquisition unit 52a and the position information of a predetermined reference point RP. Specifically, the generation unit 52b can generate first correction information based on the satellite signal acquired by the acquisition unit 52a and the reference point RP of the base station 61 that received the satellite signal. Furthermore, the generation unit 52b 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 reference point RP of three or more base stations 61. 【0080】 Specifically, the generation unit 52b generates correction information in response to a request for correction information from the work machine 1 (vehicle body communication device 31). When the vehicle body communication device 31 requests correction information from the server 51, it transmits request information including the vehicle body position VP. Therefore, the generation unit 52b generates either first correction information or second correction information based on the vehicle body position VP included in the request information received by the server communication device 54 from the vehicle body communication device 31. In this embodiment, the generation unit 52b generates either first correction information or second correction information based on predetermined conditions. 【0081】 For example, the generation unit 52b selects the base station 61 closest to the work machine 1 based on the vehicle position VP included in the request information and the position information of the reference point RP of each base station 61. If the relative distance (baseline length) between the reference point RP of the base station 61 and the work machine 1 is less than a predetermined distance, it generates first correction information based on the satellite signal received by this base station 61. On the other hand, if the baseline length is greater than or equal to the predetermined distance, the generation unit 52b 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 position information of the reference point RP of each base station 61, and generates second correction information based on the satellite signal received by these base stations 61. At this time, the generation unit 52b 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 the second correction information. When the generation unit 52b generates the correction information, the server communication device 54 transmits the generated correction information to the vehicle communication device 31 that requested the correction information. 【0082】 The conditions under which the generation unit 52b generates either the first or second correction information are not limited to the baseline length described above. For example, the generation unit 52b may generate either the first or second correction information depending on the positioning accuracy of the vehicle position VP measured based on each correction information, the positional relationship between the vehicle position VP and each base station 61, etc. 【0083】 Furthermore, if the request information from the vehicle body communication device 31 includes instruction information indicating which of the first correction information and the second correction information is requested, the generation unit 52b may generate either the first correction information or the second correction information according to the instruction information. 【0084】 Furthermore, the generation unit 52b may pre-generate the first correction information and the second correction information, and the server communication device 54 may transmit either the first correction information or the second correction information to the vehicle body communication device 31 based on predetermined conditions. 【0085】 When the vehicle communication device 31 receives correction information, the first calculation unit 43a calculates (positions) the position VP (vehicle position) of the work machine 1 using the correction information generated by the generation unit 52b in addition to the satellite signal received by the receiving device 42. That is, when the vehicle communication device 31 receives first correction information, the first calculation unit 43a performs positioning using the RRS-GNSS method based on the satellite signal received by the receiving device 42 and the first correction information. On the other hand, when the vehicle communication device 31 receives second correction information, the first calculation unit 43a performs positioning using the VRS-GNSS method based on the satellite signal received by the receiving device 42 and the second correction information. 【0086】 As described above, the server 51 (generation unit 52b) generates correction information based on the position information of a predetermined reference point RP, and the work machine 1 (first calculation unit 43a) can use this correction information to calculate (position) the vehicle body position VP. 【0087】 As shown in Figure 2, the support system 101 of the work machine 1 in this embodiment is equipped with a notification device 71. The notification device 71 is a device that provides a predetermined notification according to the degree of discrepancy between an index of actual positioning accuracy (also called an accuracy index or actual accuracy index) based on satellite signals received by the receiving device 42 and an estimated index of positioning accuracy (also called an accuracy index or estimated accuracy index) based on satellite signals received by one or more base stations 61. The estimated accuracy index is an estimate of the accuracy index in the receiving device 42 based on satellite signals received by the base station 61. 【0088】 Since the receiving device 42 is installed on the work machine 1, if there are obstacles 111 such as windbreaks, barns, or greenhouses around the work machine 1, satellite signals transmitted from some or all of the positioning satellites G included in each satellite positioning system 102 may be obstructed. 【0089】 In contrast, each base station 61 is relatively unlikely to have its satellite signal obstructed by the obstacle 111, and multiple base stations 61 can receive satellite signals from positioning satellite G. Therefore, even if some base stations 61 cannot receive satellite signals from a specific positioning satellite G, other base stations 61 may be able to receive those signals. For this reason, there may be a discrepancy between the actual accuracy index and the estimated accuracy index. 【0090】 Furthermore, since the actual accuracy information includes an indicator of the actual positioning accuracy based on satellite signals received by the receiving device 42, and the estimated accuracy information includes an indicator of the estimated positioning accuracy based on satellite signals received by one or more base stations 61, if the degree of deviation is relatively large, it can be said that the actual positioning accuracy is changing due to the surrounding environment of the work machine 1. In other words, it can be said that there is room to improve the positioning accuracy by reviewing the surrounding environment. Also, if the degree of deviation is relatively small, it can be said that the actual positioning accuracy is changing due to the region and time of day in which the work machine 1 is located. 【0091】 If the degree of discrepancy between the actual accuracy index and the estimated accuracy index is relatively high, the notification device 71 will provide notification according to the degree of discrepancy, including that the degree of discrepancy is relatively high, the cause of the relatively high degree of discrepancy, and countermeasures to reduce the degree of discrepancy. The notification device 71 will notify the worker by outputting light or sound. The notification device 71 will be described below using a display device 71 that provides notification by displaying a predetermined screen as an example. 【0092】 The display device 71 is a display terminal (mobile terminal) such as a smartphone, tablet, or personal computer. In this embodiment, the display device 71 will be described using a smartphone as an example. The display device 71 (mobile terminal) may also serve as a relay terminal, or it may be a separate terminal from the relay terminal. In the following description, the case in which the display device 71 also serves as a relay terminal will be described as an example. As shown in Figure 2, the display device 71 has a terminal control device 72. The display device 71 also has a terminal storage device 73. 【0093】 The terminal control device 72 is a processing circuit that includes one or more processors. The terminal control device 72 is a controller of the display device 71 and performs various controls related to the display device 71. The terminal control device 72 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 terminal control device 72 can read software programs from one or more memories using one or more processors and execute various processes based on those software programs. 【0094】 Furthermore, as described in the vehicle body control device 21, the terminal control device 72 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 terminal control device 72 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. 【0095】 The terminal storage device 73 stores various types of information and data in a read-write manner. The terminal storage device 73 includes non-volatile memory such as an HDD or SSD. The terminal storage device 73 is communicated with the terminal control device 72, and the terminal control device 72 can retrieve various types of information and data stored in the terminal storage device 73. 【0096】 As shown in Figure 2, the display device 71 has a terminal communication device 74. The terminal communication device 74 is the communication interface of the display device 71 and includes a communication circuit. The terminal communication device 74 can communicate with the vehicle body communication device 31 of the work machine 1. The terminal communication device 74 can communicate wirelessly with the vehicle body communication device 31, for example, and the communication device 31 performs wireless communication using 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. In this embodiment, the terminal communication device 74 communicates with the vehicle body communication device 31 using Wi-Fi®. 【0097】 Furthermore, the display device 71 has a display unit 75. The display unit 75 can display various images and information through display control by the terminal control device 72. The display unit 75 is, for example, a liquid crystal display, an organic EL display, etc. In addition, the display unit 75 is provided with a touch panel on its surface, and can detect touch operations on the various images and information displayed. 【0098】 In other words, the display device 71 also serves as an input interface for receiving information input operations (input of information settings). Therefore, the display device 71 accepts input of various information settings or instructions when an operator performs a predetermined operation on the touch panel. The information received by the display device 71 is acquired by the terminal control device 72, which then uses it for various processes or stores it in the terminal storage device 73. The terminal control device 72 may also transmit the information received from the input operation to the vehicle communication device 31 via the terminal communication device 74. 【0099】 In this embodiment, the display device 71 is described using a smartphone as an example, but the display device 71 is not limited to a mobile terminal 71 and only needs to be able to provide notification by displaying at least a predetermined screen. For example, the display device 71 may be 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, etc. 【0100】 Furthermore, the notification device 71 can be any device capable of notifying the worker, and is not limited to a display device 71. For example, the notification device 71 may be a speaker, a lamp, or the like. 【0101】 Next, we will explain how to calculate the actual positioning accuracy index (actual accuracy index) based on the satellite signal received by the receiving device 42. As shown in Figure 2, the support system 101 of the work machine 1 is equipped with a second calculation unit 43b. Specifically, the positioning control device 43 has a second calculation unit 43b. In other words, the second calculation unit 43b is provided in the positioning device 41. The second calculation unit 43b consists of one or more processors provided in the positioning control device 43, and software programs stored in memory, etc. 【0102】 The second calculation unit 43b calculates accuracy index information of the calculation result of the first calculation unit 43a based on the satellite signal received by the receiving device 42 (hereinafter, for the sake of explanation, the accuracy index information calculated by the second calculation unit 43b may be referred to as "actual accuracy information"). The accuracy index information calculated by the second calculation unit 43b includes an index indicating the positioning accuracy of the vehicle body position VP (actual accuracy index). For example, the actual accuracy index information includes the number of positioning satellites G from which the receiving device 42 can receive satellite signals (number of acquired satellites). The actual accuracy index information may also include the horizontal dilution of precision (HDOP) around the work machine 1. 【0103】 Furthermore, the actual accuracy information is not limited to accuracy indicators that directly show positioning accuracy, such as the number of acquired satellites or the horizontal accuracy degradation rate, but may also include information that allows for the calculation of positioning accuracy by performing predetermined calculation and statistical processing, i.e., information that indirectly shows positioning accuracy. For example, the second calculation unit 43b may calculate actual accuracy indicator information, including the position of the positioning satellite G from which the receiving device 42 can receive satellite signals, based on the satellite signals received by the receiving device 42 from the positioning satellite G. 【0104】 The calculation of actual accuracy information by the second calculation unit 43b will be described below. The second calculation unit 43b acquires satellite signals received by the receiving device 42 from multiple positioning satellites G, and identifies the positioning satellites G from which the receiving device 42 can receive satellite signals based on these satellite signals. Hereinafter, the positioning satellites G identified by the second calculation unit 43b, that is, the positioning satellites G from which the receiving device 42 can actually receive satellite signals, may be referred to as "actually acquired satellites". 【0105】 For example, the second calculation unit 43b acquires the satellite signal received by the receiving device 42 at the present time and identifies the actual captured satellite based on the identification information contained in the satellite signal. The second calculation unit 43b calculates the number of captured satellites by determining the number of the identified actual captured satellites. 【0106】 The positioning memory device 44 may store (hold) the satellite signal received by the receiving device 42 for a predetermined time, and the second calculation unit 43b may identify the positioning satellite G from which the receiving device 42 received the satellite signal at the predetermined time by referring to the identification information of the satellite signal held in the positioning memory device 44. 【0107】 Furthermore, when the first calculation unit 43a selects a satellite signal to be used for positioning from the satellite signals received by the receiving device 42 based on conditions such as health information (health status: SVhealth) contained in the satellite signal, the second calculation unit 43b acquires the satellite signal used for positioning by the first calculation unit 43a and identifies the actual acquired satellite based on the identification information contained in the satellite signal. 【0108】 The second calculation unit 43b refers to the satellite signals received from each identified acquired satellite and obtains orbital information corresponding to each acquired satellite. Based on the acquired orbital information, the second calculation unit 43b calculates the position information of the acquired satellite that transmitted the satellite signal containing the orbital information. The second calculation unit 43b also calculates the positional relationship between the receiving device 42 and the acquired satellites based on the vehicle position VP calculated by the first calculation unit 43a and the position information of each acquired satellite, and calculates the horizontal accuracy degradation rate based on this positional relationship. The second calculation unit 43b associates the identification information of each acquired satellite with the position information of each acquired satellite, and calculates actual accuracy information including this information, the number of acquired satellites, and the horizontal accuracy degradation rate. 【0109】 In this embodiment, the second calculation unit 43b calculates accuracy index information including the horizontal accuracy dilution rate, but it may also calculate other DOPs (Dilution of Precision) and then calculate accuracy index information including those DOPs. Examples of other DOPs include the position accuracy dilution rate (PDOP). 【0110】 Next, the calculation of an estimated positioning accuracy index (estimated accuracy index) based on satellite signals received by one or more base stations 61 will be described. As shown in Figure 2, the support system 101 of the work machine 1 is equipped with an estimation unit 52c. Specifically, the server computing device 52 has an estimation unit 52c. In other words, the estimation unit 52c is provided in the server 51. The estimation unit 52c consists of one or more processors provided in the server computing device 52, and software programs stored in memory, etc. 【0111】 The estimation unit 52c estimates accuracy index information around the work machine 1 based on the satellite signals acquired by the acquisition unit 52a (hereinafter, for the sake of explanation, the accuracy index information calculated by the estimation unit 52c may be referred to as "estimated accuracy information"). The estimated accuracy information is information that includes an index (accuracy index) indicating the positioning accuracy of the vehicle body position VP, and corresponds to the actual accuracy information. That is, the types of accuracy indexes included in the estimated accuracy information are the same as the types of accuracy indexes included in the actual accuracy information. For this reason, if the actual accuracy information includes the number of captured satellites and the horizontal accuracy degradation rate, the estimated accuracy information includes the number of captured satellites and the horizontal accuracy degradation rate. Also, if the actual accuracy information includes only one of the number of captured satellites and the horizontal accuracy degradation rate, the estimated accuracy information may include one of the two and not the other. 【0112】 Furthermore, the estimated accuracy information, like the actual accuracy information, is not limited to accuracy indicators that directly show positioning accuracy, such as the number of acquired satellites or the horizontal accuracy degradation rate. It may also include information that allows for the calculation of positioning accuracy by performing predetermined calculations or statistical processing, i.e., information that indirectly shows positioning accuracy. For example, the estimation unit 52c may estimate estimated accuracy information, including the position of the positioning satellite G from which the receiving device 42 can receive satellite signals, based on the satellite signals acquired by the acquisition unit 52a. 【0113】 The estimation of estimation accuracy information by the estimation unit 52c is described below. Based on the position information of the positioning satellite G that transmitted the satellite signal and is included in the satellite signal acquired by the acquisition unit 52a, the estimation unit 52c estimates the positioning satellite G that can acquire the satellite signal in the vicinity of the work machine 1 (receiving device 42). Hereinafter, the positioning satellite G estimated by the estimation unit 52c, that is, the positioning satellite G that the receiving device 42 is estimated to be able to receive the satellite signal, may be referred to as the "estimated acquisition satellite". 【0114】 For example, the estimation unit 52c estimates the estimated acquisition satellites based on the elevation angle of each positioning satellite G with respect to a reference position around the receiving device 42. Specifically, the estimation unit 52c estimates positioning satellites G whose elevation angle with respect to a reference position around the receiving device 42 is greater than or equal to a predetermined angle as the estimated acquisition satellites. 【0115】 At this time, the acquisition unit 52a refers to the observation information stored in the server storage device 53 and extracts the satellite signal that the base receiving device 64 has received from the positioning satellite G at the present time. The estimation unit 52c also acquires the orbital information contained in the satellite signal extracted (acquired) by the acquisition unit 52a. 【0116】 At this time, the acquisition unit 52a refers to the observation information stored in the server storage device 53 and extracts satellite signals from positioning satellites G of the satellite positioning system 102 that can be received by the receiving device 42. The acquisition unit 52a may also extract (acquire) satellite signals received by the base receiving device 64 during the period from the present to a predetermined time ago. Furthermore, the acquisition unit 52a only needs to acquire at least one satellite signal transmitted from each positioning satellite G by referring to the observation information stored in the server storage device 53. In other words, if satellite signals from a common positioning satellite G are received by multiple base stations 61, that is, if multiple satellite signals (observation information) from the same positioning satellite G are stored in the server storage device 53, the acquisition unit 52a will acquire the satellite signal received by any of the base stations 61. Furthermore, based on the vehicle position VP, the acquisition unit 52a may refer to the observation information stored in the server storage device 53 and acquire the satellite signal received by a base station 61 relatively close to the receiving device 42. 【0117】 The estimation unit 52c calculates the position information of the positioning satellite G that transmitted the satellite signal containing the acquired orbit information, based on the acquired orbit information. The estimation unit 52c also calculates the elevation angle of each positioning satellite G relative to the reference position, based on the calculated position information. The estimation unit 52c estimates the positioning satellite G from which the acquisition unit 52a acquired the satellite signal as estimated acquired satellites if the calculated elevation angle is greater than or equal to a predetermined angle (e.g., 10°). 【0118】 In this embodiment, the reference position is the position (antenna position) of the receiving device 42 of the work machine 1. The estimation unit 52c adopts the vehicle body position VP included in the request information as the antenna position and calculates the elevation angle of each positioning satellite G. Although the estimation unit 52c adopts the vehicle body position VP included in the request information as the reference position, the reference position can be any position around the work machine 1 (receiving device 42) and is not limited to the vehicle body position VP. 【0119】 The estimation unit 52c estimates positioning satellites G whose elevation angle is greater than or equal to a predetermined angle as estimated acquisition satellites, and then estimates the number of acquisition satellites by determining the number of estimated acquisition satellites. 【0120】 Furthermore, the estimation unit 52c calculates the positional relationship between the receiving device 42 and the estimated acquisition satellites based on the vehicle position VP included in the request information and the position information of each estimated acquisition satellite, and calculates the horizontal accuracy degradation rate based on this positional relationship. The estimation unit 52c associates the identification information of each estimated acquisition satellite with the position information of each estimated acquisition satellite, and estimates estimation accuracy information including this information, the number of acquisition satellites, and the horizontal accuracy degradation rate. 【0121】 The notification device 71 (display device) provides a predetermined notification according to the degree of discrepancy between the accuracy index information (actual accuracy information) calculated by the second calculation unit 43b and the accuracy index information (estimated accuracy information) estimated by the estimation unit 52c. In this embodiment, the vehicle communication device 31 receives the actual accuracy information calculated by the second calculation unit 43b from the positioning device 41 and the estimated accuracy information estimated by the estimation unit 52c from the external server 51, and calculates the degree of discrepancy. 【0122】 Therefore, in this embodiment, when the second calculation unit 43b calculates the actual accuracy information, the positioning control device 43 transmits the actual accuracy information to the communication control device 33 via the in-vehicle network. Also, when the estimation unit 52c estimates the estimated accuracy information, the server communication device 54 transmits the estimated accuracy information to the vehicle communication device 31. As a result, the communication device 31 calculates the degree of deviation of these accuracy indicator information, and the notification device 71 provides notification according to the degree of deviation calculated by the communication device 31. The calculation of the degree of deviation in the communication device 31 will be described below. 【0123】 The vehicle communication device 31 has a third calculation unit 33a. The third calculation unit 33a consists of one or more processors provided in the communication control device 33, and software programs stored in memory. The third calculation unit 33a calculates the degree of discrepancy between the actual accuracy information and the estimated accuracy information. Specifically, the third calculation unit 33a calculates the degree of discrepancy between the accuracy index included in the actual accuracy information and the accuracy index included in the estimated accuracy information. 【0124】 For example, if the actual accuracy information and estimated accuracy information include the number of captured satellites as an accuracy indicator, the third calculation unit 33a calculates the degree of deviation between the actual accuracy information and the estimated accuracy information based on the number of captured satellites in the actual accuracy information (the actual number of captured satellites) and the number of captured satellites in the estimated accuracy information (the estimated number of captured satellites). The third calculation unit 33a calculates the degree of deviation as the value obtained by subtracting the number of actual captured satellites from the estimated number of captured satellites (hereinafter, the degree of deviation calculated based on the number of captured satellites may be called the "first degree of deviation"). 【0125】 In the following explanation, we will mainly focus on the case where the first deviation is the value obtained by subtracting the actual number of captured satellites from the estimated number of captured satellites. However, the third calculation unit 33a may also calculate the first deviation as the ratio of the actual number of captured satellites to the estimated number of captured satellites. 【0126】 If the actual accuracy information and estimated accuracy information include a horizontal accuracy degradation rate as an accuracy index, the third calculation unit 33a calculates the degree of deviation between the actual accuracy information and the estimated accuracy information based on the horizontal accuracy degradation rate of the actual accuracy information and the horizontal accuracy degradation rate of the estimated accuracy information. The third calculation unit 33a calculates the degree of deviation as the value obtained by subtracting the horizontal accuracy degradation rate of the actual accuracy information from the horizontal accuracy degradation rate of the estimated accuracy information (hereinafter, the degree of deviation calculated based on the horizontal accuracy degradation rate may be called the "second degree of deviation"). 【0127】 In the following explanation, we will mainly focus on the case where the second deviation is the value obtained by subtracting the horizontal accuracy degradation rate of the actual accuracy information from the horizontal accuracy degradation rate of the estimated accuracy information. However, the third calculation unit 33a may also calculate the second deviation as the ratio of the horizontal accuracy degradation rate of the actual accuracy information to the horizontal accuracy degradation rate of the estimated accuracy information. 【0128】 Furthermore, if the actual accuracy information includes the position of the actual acquired satellite and the estimated accuracy information includes the position of the estimated acquired satellite, the third calculation unit 33a may calculate the arrangement of the positioning satellite G based on the actual accuracy information calculated by the second calculation unit 43b, and the arrangement of the positioning satellite G based on the estimated accuracy information estimated by the estimation unit 52c. 【0129】 Specifically, the third calculation unit 33a acquires the vehicle position VP calculated by the first calculation unit 43a and calculates the arrangement of each positioning satellite G based on the vehicle position VP. The third calculation unit 33a calculates the elevation angle and azimuth angle of each actual acquired satellite based on the vehicle position VP, using the position information of the actual acquired satellites included in the actual accuracy information and the vehicle position VP as a reference. Furthermore, the third calculation unit 33a calculates the elevation angle and azimuth angle of each estimated acquired satellite based on the vehicle position VP, using the position information of the estimated acquired satellites included in the estimated accuracy information and the vehicle position VP as a reference. 【0130】 In addition, a "actually acquired satellite" refers to a positioning satellite G from which the receiving device 42 can actually receive satellite signals, while a "presumed acquired satellite" that is not an "actually acquired satellite" refers to a positioning satellite G from which the receiving device 42 is estimated to be able to receive satellite signals, but from which it is actually unable to receive satellite signals (hereinafter referred to as an "unacquirable satellite"). For this reason, the third calculation unit 33a may omit the calculation of the placement of positioning satellites G (actually acquired satellites) whose placement has been calculated based on the actual accuracy information, based on the estimated accuracy information. 【0131】 Furthermore, as shown in Figure 2, the vehicle communication device 31 has a first information generation unit 33b. The first information generation unit 33b consists of one or more processors provided in the communication control device 33, and software programs stored in memory. 【0132】 The first information generation unit 33b generates information for the notification device 71 to provide notification according to the degree of deviation. In this embodiment, the notification device 71 is a display device 71 capable of providing notification by displaying a screen, so the first information generation unit 33b generates display information including image information for the display device 71 to display a screen indicating notification. Specifically, the first information generation unit 33b acquires the degree of deviation calculated by the third calculation unit 33a, and if the degree of deviation is greater than or equal to a predetermined threshold and there is a discrepancy between the actual accuracy information and the estimated accuracy information, it generates display information including information indicating the notification content (notification information). 【0133】 Specifically, the first information generation unit 33b generates display information including notification information when the first deviation is greater than or equal to a predetermined first threshold (e.g., 5). The first information generation unit 33b also generates display information including notification information when the second deviation is greater than or equal to a predetermined second threshold (e.g., 0.4). The first and second thresholds are values ​​pre-stored in the communication storage device 34. 【0134】 The first and second threshold values ​​described above are merely examples, and may be edited as appropriate by an operator inputting information on a predetermined settings screen or the like displayed by the display device 71. 【0135】 Furthermore, the display information generated by the first information generation unit 33b may include information other than notification information. For example, the display information may include status information indicating the positioning status of the positioning device 41, or arrangement information indicating the arrangement of positioning satellites G, etc. 【0136】 Status information can be exemplified by accuracy indicators included in the actual accuracy information and estimated accuracy information. For example, status information includes the number of captured satellites and the horizontal accuracy degradation rate of the actual accuracy information, and the number of captured satellites and the horizontal accuracy degradation rate of the estimated accuracy information. Note that status information is not limited to accuracy indicators included in the actual accuracy information and estimated accuracy information, and may also include the deviation degree (first deviation degree, second deviation degree) calculated by the third calculation unit 33a, the presence or absence of multipath, the presence or absence of interference waves, the age of the data, the status of each positioning satellite G, etc. The first information generation unit 33b generates status information based on information acquired from the server 51 and the positioning device 41. In the following description, we will explain the case where the status information included in the display information is the accuracy indicators included in the actual accuracy information and estimated accuracy information, as well as the deviation degree. 【0137】 The placement information is information indicating the placement of positioning satellites G based on the actual accuracy information and estimated accuracy information calculated by the third calculation unit 33a. Therefore, the placement information includes the placement of both acquired and unacquired satellites. Specifically, the first information generation unit 33b generates placement information by associating the identification information of each positioning satellite G (acquired satellites, unacquired satellites) with the placement of each positioning satellite G. Furthermore, the first information generation unit 33b manages the placement of acquired satellites and the placement of unacquired satellites separately. For example, the first information generation unit 33b manages the placement of acquired satellites and the placement of unacquired satellites separately by assigning a flag to either the identification information of acquired satellites or the identification information of unacquired satellites, or by assigning different flags to each. 【0138】 Furthermore, if the terminal control device 72 can display each screen on the display unit 75 using programs, image information, etc., stored in the terminal storage device 73, the display information does not necessarily have to include image information. 【0139】 When the first information generation unit 33b generates display information, the communication control device 33 transmits the display information to the display device 71 (mobile terminal) via the communication antenna 32. In this embodiment, the communication control device 33 transmits the display information to the display device 71 when the communication antenna 32 receives a request for display information from the display device 71. The display device 71 accepts a transition operation to the status display screen 81A when an operator performs a predetermined operation, and upon accepting the transition operation, requests display information from the communication device 31. However, the communication control device 33 may transmit the display information to the display device 71 if the display information includes notification information, regardless of a request from the display device 71. In such a case, the display device 71 automatically displays the status display screen 81A if the degree of deviation is greater than or equal to a threshold. 【0140】 When the terminal communication device 74 receives display information from the communication antenna 32, the terminal control device 72 causes the display unit 75 to display a status display screen 81A based on the display information. Figures 5 to 7 show the status display screen 81A in the first embodiment. Figure 5 shows the status display screen 81A when both the first deviation and the second deviation are below the threshold. Figure 6 shows the status display screen 81A when the first deviation is above the threshold and the second deviation is below the threshold. And Figure 7 shows the status display screen 81A when both the first deviation and the second deviation are above the threshold. 【0141】 As shown in Figures 5 to 7, the status display screen 81A has a notification display unit 82. The notification display unit 82 is a display image that displays notification content based on notification information. Specifically, if the display information includes notification information, the terminal control device 72 causes the notification display unit 82 to display a message based on that notification information. For example, the terminal control device 72 causes the notification display unit 82 to display the message, "There are obstacles in the surrounding area. Move to a location without obstacles and reset the GNSS receiver." (See Figures 6 and 7). 【0142】 If the displayed information does not include notification information, the terminal control device 72 will, based on the displayed information, display the message "Positioning status is good." on the notification display unit 82 (see Figure 5), hide the notification display unit 82, or hide the information within the notification display unit 82. 【0143】 Furthermore, as shown in Figures 5 to 7, the display device 71 may, in addition to notification, display accuracy index information calculated by the second calculation unit 43b and accuracy index information estimated by the estimation unit 52c. Specifically, the status display screen 81A has a status display unit 83. The status display unit 83 is a display image that displays information based on status information. The terminal control device 72 displays the accuracy index included in the actual accuracy information and estimated accuracy information on the status display unit 83 based on the status information. In the example shown in Figures 5 to 7, the status display unit 83 displays the number of captured satellites for the actual accuracy information and the number of captured satellites for the estimated accuracy information side by side. The status display unit 83 also displays the horizontal accuracy degradation rate for the actual accuracy information and the horizontal accuracy degradation rate for the estimated accuracy information side by side. 【0144】 Furthermore, the status display unit 83 displays different information depending on whether the deviation is above or below a threshold. In this embodiment, the status display unit 83 displays a deviation indicator unit 83a (icon) that indicates whether the deviation is above or below a threshold. The deviation indicator unit 83a is displayed near each accuracy index. The deviation indicator unit 83a switches between a normal state, which indicates that the deviation is below a threshold and is normal, and an abnormal state, which indicates that the deviation is above a threshold and is abnormal. 【0145】 In the examples shown in Figures 5 to 7, the status display unit 83 indicates whether the deviation is above a threshold by switching the display format of the deviation display unit 83a, but the display method is not limited to the examples described above. For example, the status display unit 83 may display the deviation numerically. 【0146】 Furthermore, if the status information includes information other than the accuracy index and deviation degree, the status display unit 83 displays the other information (such as the presence or absence of multipath interference, the presence or absence of interference waves, etc.) in a list. 【0147】 As shown in Figures 5 to 7, the display device 71 may display the arrangement of positioning satellites G (actually acquired satellites) based on the accuracy index information (actual accuracy information) calculated by the second calculation unit 43b, as well as the arrangement of positioning satellites G (estimated acquired satellites) based on the accuracy index information (estimated accuracy information) estimated by the estimation unit 52c. Specifically, the status display screen 81A has an arrangement display unit 84. The arrangement display unit 84 is a display image that displays information based on the arrangement information. 【0148】 The arrangement display unit 84 displays, based on the arrangement information, the arrangement of positioning satellites G that the receiving device 42 can actually receive satellite signals from (actually acquired satellites) and the arrangement of positioning satellites G that the receiving device 42 is estimated to be able to receive satellite signals from (estimated acquired satellites). Specifically, the arrangement display unit 84 displays the actually acquired satellites and the unacquired satellites based on the arrangement information. More specifically, the arrangement display unit 84 schematically displays the elevation angle and azimuth of each positioning satellite G with the receiving device 42 as the center (origin). The arrangement display unit 84 displays each positioning satellite G with icons 84a and 84b, respectively. 【0149】 The placement display unit 84 displays the first satellite position display unit 84a (icon) indicating an actually acquired satellite and the second satellite position display unit 84b (icon) indicating an unacquirable satellite in different display formats. For example, the placement display unit 84 displays the first satellite position display unit 84a and the second satellite position display unit 84b with different shapes and / or colors. 【0150】 The positioning display unit 84 displays the elevation angle of each positioning satellite G based on the distance from the origin to the icon (first satellite position display unit 84a or second satellite position display unit 84b). Specifically, the positioning display unit 84 indicates that the elevation angle of the positioning satellite G decreases as the distance from the origin to the icons 84a and 84b increases. Conversely, the positioning display unit 84 indicates that the elevation angle of the positioning satellite G increases as the distance from the origin to the icons 84a and 84b decreases. 【0151】 Furthermore, the positioning display unit 84 displays the direction of each positioning satellite G based on the direction of icons 84a and 84b relative to the origin. Specifically, if icons 84a and 84b are located above the origin, it indicates that the positioning satellite G corresponding to those icons 84a and 84b is located to the north. If icons 84a and 84b are located below the origin, it indicates that the positioning satellite G corresponding to those icons 84a and 84b is located to the south. If icons 84a and 84b are located to the left of the origin, it indicates that the positioning satellite G corresponding to those icons 84a and 84b is located to the west. If icons 84a and 84b are located to the right of the origin, it indicates that the positioning satellite G corresponding to those icons 84a and 84b is located to the east. 【0152】 Therefore, in the examples shown in Figures 5 and 6, the arrangement display unit 84 indicates that the acquired satellites are located relatively evenly and scattered in each direction. Also, in the example shown in Figure 7, the arrangement display unit 84 indicates that the acquired satellites are not located to the west of the receiving device 42, while the unacquirable satellites are located to the west of the receiving device 42. Therefore, in the example shown in Figure 7, compared to the examples shown in Figures 5 and 6, there are obstacles 111 such as windbreaks, barns, and greenhouses located to the west of the receiving device 42, and it is possible that the satellite signals transmitted from the positioning satellite G are being blocked by these obstacles 111. 【0153】 Note that the status display screen 81A described using Figures 5 to 7 is merely an example and is not limited thereto. For example, in the example described above, the notification display unit 82 displays the message "There are obstacles in the vicinity. Move to a location free of obstacles and reset the GNSS receiver." However, the display device 71 only needs to be able to provide notification according to the degree of deviation, such as that the degree of deviation is relatively high, the cause of the relatively high degree of deviation, and countermeasures to reduce the degree of deviation, and the content of the message is not particularly limited. For example, as shown in the example in Figure 7, if the acquired satellites are concentrated in certain directions, while the unacquirable satellites are located in directions where the acquired satellites are not located, the notification display unit 82 may display a message according to the location of the unacquirable satellites, such as "There are obstacles to the west. Remove the obstacles or move to a location away from the obstacles and reset the GNSS receiver." 【0154】 Figure 8 illustrates the sequence of events in the support system 101 of the work machine 1 in the first embodiment, in which the communication device 31 calculates the degree of deviation and the notification device 71 provides notification according to the degree of deviation. The sequence of events in which the communication device 31 calculates the degree of deviation and the notification device 71 provides notification according to the degree of deviation will be explained below using Figure 8. 【0155】 As shown in Figure 8, the receiving device 42 of the positioning device 41 receives satellite signals from one or more positioning satellites G (S1: first step). When the receiving device 42 receives satellite signals from positioning satellites G (S1), the first calculation unit 43a uses the satellite signals received in S1 (first step) to calculate the position VP (vehicle body position) of the work machine 1 (S2: second step). In S2 (second step), if the vehicle body communication device 31 has received correction information, the first calculation unit 43a performs positioning using the RTK method with the correction information. If the vehicle body communication device 31 has not received correction information, the first calculation unit 43a performs standalone positioning. 【0156】 When the first calculation unit 43a calculates the vehicle position VP (S2), the second calculation unit 43b calculates accuracy index information (actual accuracy information) of the calculation result of S2 based on the satellite signal received in S1 (first step) (S3: third step). When the second calculation unit 43b calculates the actual accuracy information (S3), the positioning control device 43 transmits the actual accuracy information to the communication control device 33 via the in-vehicle network (S4). 【0157】 Furthermore, the vehicle communication device 31 transmits request information to the server 51 (server communication device 54) (S5). Specifically, the vehicle communication device 31 transmits request information including the calculation result of S2 (vehicle position VP). 【0158】 Meanwhile, the acquisition unit 52a of the server 51 acquires satellite signals received by one or more base stations 61 from positioning satellite G (S6: fourth step). The estimation unit 52c estimates accuracy index information (estimated accuracy information) around the work machine 1 based on the satellite signals acquired by the acquisition unit 52a in S6 (fourth step) (S7: fifth step). At this time, the estimation unit 52c estimates the estimated accuracy information based on the vehicle position VP included in the request information received by the server communication device 54 in S5, in addition to the satellite signals acquired by the acquisition unit 52a in S6 (fourth step). Once the estimation unit 52c has estimated the estimated accuracy information, the server communication device 54 transmits the estimated accuracy information to the vehicle communication device 31 (S8). 【0159】 When the communication control device 33 receives actual accuracy information in S4 and estimated accuracy information in S8, the third calculation unit 33a of the communication control device 33 calculates the degree of deviation between these accuracy index information (actual accuracy information, estimated accuracy information) (S9). When the third calculation unit 33a calculates the degree of deviation (S9), the first information generation unit 33b generates display information according to the degree of deviation (S10). Specifically, if the first information generation unit 33b determines that the degree of deviation is above a threshold, it generates display information including notification information. On the other hand, if the first information generation unit 33b determines that the degree of deviation is below a threshold, it generates display information that does not include notification information. 【0160】 When the first information generation unit 33b generates display information (S10), the communication control device 33 transmits the display information to the display device 71 (terminal communication device 74) in response to a request from the display device 71 (S11). When the terminal communication device 74 receives the display information from the communication antenna 32, the terminal control device 72 causes the display unit 75 to display the status display screen 81A based on the display information (S12). 【0161】 Specifically, if the notification information is included in the display information, the terminal control device 72 displays the notification content based on the notification information in the notification display unit 82 of the status display screen 81A. On the other hand, if the notification information is not included in the display information, the terminal control device 72 does not display the notification content based on the notification information in the notification display unit 82 of the status display screen 81A. As a result, the display device 71 (notification device) makes a predetermined notification according to the degree of discrepancy between the accuracy index information calculated by the second calculation unit 43b in S3 (third step) and the accuracy index information estimated by the estimation unit 52c in S7 (fifth step) (S12: sixth step). 【0162】 The sequence of operations shown in Figure 8 described above is merely one example to illustrate the sequence of operations in the support system 101 of the work machine 1 in the first embodiment, in which the communication device 31 calculates the degree of deviation and the notification device 71 provides notification according to the degree of deviation. The order and content of the operations of the vehicle communication device 31, positioning device 41, server 51, and display device 71 are not limited to the example shown in Figure 8 and may be changed as appropriate. For example, the operations in steps S1 to S3 may be performed simultaneously with the operations in steps S5 to S8, or after the operations in steps S5 to S8. 【0163】 [Second Embodiment] Figure 9 shows another embodiment (second embodiment) of the support system 101 for the work machine 1. In the support system 101 of the work machine 1 of the first embodiment, the communication device 31 calculated the degree of deviation, and the notification device 71 provided notification according to the degree of deviation calculated by the communication device 31. In the support system 101 of the work machine 1 of the second embodiment, the server 51 calculates the degree of deviation, and the notification device 71 provides notification according to the degree of deviation calculated by the server 51. Specifically, the server 51 receives accuracy index information (actual accuracy information) calculated by the second calculation unit 43b from the positioning device 41 via the communication device 31, and calculates the degree of deviation. 【0164】 Therefore, in this embodiment, when the second calculation unit 43b calculates the actual accuracy information, the positioning control device 43 transmits the actual accuracy information to the communication control device 33 via the in-vehicle network. The communication control device 33 then transmits the actual accuracy information to the server communication device 54. As a result, the server 51 calculates the degree of discrepancy between the actual accuracy information and the estimated accuracy information, and the notification device 71 provides notification according to the degree of discrepancy calculated by the server 51. 【0165】 The following description focuses on the configuration of the support system 101 for the work machine 1 of the second embodiment, which differs from the embodiment described above (the first embodiment). Components common to the first embodiment are denoted by the same reference numerals, and detailed explanations are omitted. Furthermore, the notification device 71 of the second embodiment is a display device 71, similar to the notification device 71 of the first embodiment, but differs in that it is a personal computer. 【0166】 As shown in Figure 9, the server 51 has a fourth arithmetic unit 52d. The fourth arithmetic unit 52d consists of one or more processors provided in the server arithmetic device 52, and software programs stored in memory. The fourth arithmetic unit 52d calculates the degree of deviation between the actual accuracy information received by the server communication device 54 and the estimated accuracy information calculated by the estimation unit 52c. Note that the calculation process of the degree of deviation by the fourth arithmetic unit 52d is substantially the same as the calculation process of the degree of deviation by the third arithmetic unit 33a in the first embodiment, so a detailed explanation is omitted. 【0167】 Furthermore, as shown in Figure 9, the server 51 has a second information generation unit 52e. The second information generation unit 52e consists of one or more processors provided in the communication control device 33, and software programs stored in memory. 【0168】 The second information generation unit 52e generates information for the notification device 71 to provide notification according to the degree of deviation. Similar to the first information generation unit 33b in the first embodiment, the second information generation unit 52e generates display information including image information for the display device 71 to display a screen indicating notification. Specifically, the second information generation unit 52e acquires the degree of deviation calculated by the fourth calculation unit 52d, and if the degree of deviation is greater than or equal to a predetermined threshold and there is a discrepancy between the actual accuracy information and the estimated accuracy information, it generates display information including information indicating the notification content (notification information). 【0169】 Furthermore, unlike the display information generated by the first information generation unit 33b, the second information generation unit 52e may generate display information that includes map information indicating the position VP of the implement 1 in the work area (e.g., field H). The server communication device 54 acquires the vehicle position VP determined by the positioning device 41 via the vehicle communication device 31. The server communication device 54 also accesses a map database such as Google Maps (registered trademark) to acquire wide-area map images or satellite images including the work area. The second information generation unit 52e overlays the acquired current vehicle position VP onto the map image, etc., generates map information indicating the position VP of the implement 1 in the map image, etc., and generates display information including said map information. The following explanation will use the case where the second information generation unit 52e generates map information using satellite images as an example. 【0170】 When the second information generation unit 52e generates display information, the server computing unit 52 transmits the display information to the display device 71 (mobile terminal) via the server communication device 54. In the second embodiment, the server computing unit 52 transmits the display information in response to a request from the display device 71 when the server communication device 54 receives a request for display information from the display device 71. However, the server computing unit 52 may transmit the display information to the display device 71 if the display information includes notification information, regardless of a request from the display device 71. In such a case, the display device 71 automatically displays the status display screen 81B if the deviation is greater than or equal to a threshold. 【0171】 When the terminal communication device 74 receives display information from the server communication device 54, the terminal control device 72 causes the display unit 75 to display the status display screen 81B based on the display information. Figures 10 to 12 show the status display screen 81B in the second embodiment. Figure 10 shows the status display screen 81B when both the first deviation and the second deviation are below the threshold. Figure 11 shows the status display screen 81B when the first deviation is above the threshold and the second deviation is below the threshold. And Figure 12 shows the status display screen 81B when both the first deviation and the second deviation are above the threshold. 【0172】 As shown in Figures 10 to 12, the status display screen 81B of the second embodiment has a status display unit 83 and a placement display unit 84, similar to the status display screen 81B of the first embodiment. In the example shown in Figures 10 and 11, the placement display unit 84 indicates that the acquired satellites are located relatively evenly and scattered in each direction. In the example shown in Figure 12, the placement display unit 84 indicates that the acquired satellites are not located to the west of the receiving device 42, while the unacquirable satellites are located to the west of the receiving device 42. 【0173】 Furthermore, the status display screen 81B of the second embodiment displays a map display unit 85 based on map information, in addition to the status display unit 83 and the layout display unit 84. The map display unit 85 shows the position VP of the work machine 1 in the work area. Specifically, the map display unit 85 displays a satellite image based on the map information and displays the position VP of the work machine 1 on the satellite image as an icon (vehicle position display unit 85a). 【0174】 Furthermore, as shown in the example in Figure 12, if the acquired satellites are positioned unevenly in certain directions, while the unacquirable satellites are positioned in directions where the acquired satellites are not located, the notification display unit 82 may indicate the area where the unacquirable satellites are positioned unevenly, as seen from the vehicle position display unit 85a. In addition, if the second information generation unit 52e can recognize an obstacle 111 in the satellite image by performing pattern matching processing with multiple types of identification images for determination that have been stored in advance in the server storage device 53, the second information generation unit 52e may generate display information to indicate the vicinity of the object recognized as an obstacle 111 in the area where the unacquirable satellites are positioned unevenly. 【0175】 Furthermore, in the above description, the map display unit 85 of the status display screen 81B shows the current position VP of the work machine 1, but the map display unit 85 may also display the position VP of the work machine 1 at a predetermined point in the past, and the notification display unit 82, status display unit 83, and layout display unit 84 may display the respective information at that predetermined point in the past. 【0176】 Figure 13 illustrates the sequence of events in the support system 101 for the work machine 1 in the second embodiment, in which the server 51 calculates the degree of deviation and the notification device 71 provides notification according to the degree of deviation. The sequence of events in which the server 51 calculates the degree of deviation and the notification device 71 provides notification according to the degree of deviation will be explained below using Figure 13. 【0177】 As shown in Figure 13, the receiving device 42 of the positioning device 41 receives satellite signals from one or more positioning satellites G (S21: first step). When the receiving device 42 receives satellite signals from positioning satellites G (S21), the first calculation unit 43a uses the satellite signals received in S21 (first step) to calculate the position VP (vehicle body position) of the work machine 1 (S22: second step). In S22 (second step), if the vehicle body communication device 31 has received correction information, the first calculation unit 43a performs positioning using the RTK method with the correction information. If the vehicle body communication device 31 has not received correction information, the first calculation unit 43a performs standalone positioning. 【0178】 When the first calculation unit 43a calculates the vehicle position VP (S22), the second calculation unit 43b calculates accuracy index information (actual accuracy information) of the calculation result of S22 based on the satellite signal received in S21 (first step) (S23: third step). When the second calculation unit 43b calculates the actual accuracy information (S23), the positioning control device 43 transmits the actual accuracy information to the communication control device 33 via the in-vehicle network (S24). When the communication control device 33 receives the actual accuracy information (S24), it transmits the actual accuracy information to the server 51 (server communication device 54) (S25). 【0179】 Furthermore, the vehicle communication device 31 transmits request information to the server 51 (server communication device 54) (S26). Specifically, the vehicle communication device 31 transmits request information including the calculation result (vehicle position VP) from S22. 【0180】 Meanwhile, the acquisition unit 52a of the server 51 acquires satellite signals received by one or more base stations 61 from positioning satellite G (S27: fourth step). The estimation unit 52c estimates accuracy index information (estimated accuracy information) around the work machine 1 based on the satellite signals acquired by the acquisition unit 52a in S27 (fourth step) (S28: fifth step). At this time, the estimation unit 52c estimates the estimated accuracy information based on the vehicle position VP included in the request information received by the server communication device 54 in S26, in addition to the satellite signals acquired by the acquisition unit 52a in S27 (fourth step). 【0181】 When the server computing unit 52 receives actual accuracy information in S25 and estimates estimated accuracy information in S28, the fourth computing unit 52d of the server computing unit 52 calculates the degree of deviation between these accuracy indicator information (actual accuracy information, estimated accuracy information) (S29). When the fourth computing unit 52d calculates the degree of deviation (S29), the second information generation unit 52e generates display information according to the degree of deviation (S30). 【0182】 Specifically, the second information generation unit 52e generates display information including notification information if it determines that the degree of deviation is greater than or equal to a threshold. On the other hand, if the second information generation unit 52e determines that the degree of deviation is less than a threshold, it generates display information that does not include notification information. 【0183】 When the second information generation unit 52e generates display information (S30), the server computing unit 52 transmits the display information to the display device 71 (terminal communication device 74) in response to a request from the display device 71 (S31). When the terminal communication device 74 receives the display information from the server communication device 54, the terminal control device 72 causes the display unit 75 to display the status display screen 81B based on the display information (S32). 【0184】 Specifically, if the notification information is included in the display information, the terminal control device 72 displays the notification content based on the notification information in the notification display unit 82 of the status display screen 81B. On the other hand, if the notification information is not included in the display information, the terminal control device 72 does not display the notification content based on the notification information in the notification display unit 82 of the status display screen 81B. As a result, the display device 71 (notification device) makes a predetermined notification according to the degree of discrepancy between the accuracy index information calculated by the second calculation unit 43b in S23 (third step) and the accuracy index information estimated by the estimation unit 52c in S28 (fifth step) (S32: sixth step). 【0185】 The sequence of operations shown in Figure 13 described above is merely one example to illustrate the sequence of operations in the support system 101 of the work machine 1 in the second embodiment, in which the server 51 calculates the degree of deviation and the notification device 71 provides notification according to the degree of deviation. The order and content of the operations of the vehicle communication device 31, positioning device 41, server 51, and display device 71 are not limited to the example shown in Figure 13 and may be changed as appropriate. For example, the operations in steps S21 to S25 may be performed simultaneously with the operations in steps S27 to S28, or after the operations in steps S27 to S28. 【0186】 (Other variations) In the first and second embodiments described above, the case in which the work machine 1 operates using automatic driving control with vehicle position VP was explained as an example. However, the work machine 1 does not necessarily have to be able to operate using automatic driving control or automatic steering control, and the vehicle position VP determined by the positioning device 41 may be used for other control of the work machine 1. For example, the vehicle position VP may be transmitted via the vehicle communication device 31 to an external monitoring terminal or a remote control terminal in a remote location, and used to display the current position of the work machine 1 on these monitoring terminals or remote control terminals. 【0187】 Furthermore, in the first and second embodiments described above, a second calculation unit 43b for calculating actual accuracy information is provided in the positioning device 41 (positioning control device 43), and an estimation unit 52c for estimating estimated accuracy information is provided in the server 51 (server calculation device 52). However, the second calculation unit 43b and the estimation unit 52c, etc., may be provided in calculation devices other than those described above. For example, the second calculation unit 43b and the estimation unit 52c may be provided in the same calculation device (for example, the communication control device 33 or the server calculation device 52). 【0188】 Furthermore, although the first and second embodiments described above describe the case in which the receiving device 42 and the first calculation unit 43a are provided on the positioning device 41, the receiving device 42 and the first calculation unit 43a may be provided on different devices. For example, the first calculation unit 43a may be provided on an external calculation processing unit of the work machine 1. 【0189】 Furthermore, in the first embodiment described above, the first information generation unit 33b generates display information according to the degree of deviation, and in the second embodiment, the second information generation unit 52e generates display information according to the degree of deviation. However, the vehicle body control device 21 may acquire the degree of deviation and control the work machine 1 according to the acquired degree of deviation. For example, when the vehicle body control device 21 is in automatic mode, if the degree of deviation exceeds a threshold, it may automatically transition from automatic mode to manual mode without operating the mode switching switch 15a. Also, when the vehicle body control device 21 is in automatic mode, if the degree of deviation exceeds a threshold, it may control the power unit 11 and / or the braking unit 7 to stop the vehicle from moving by activating the running device 5. 【0190】 The first and / or second embodiments described above provide a support system 101 for the work machine 1 and a support method for the work machine 1 as described in the following items. 【0191】 (Item 1) A support system 101 for a work machine 1 comprising: a receiving device 42 provided on the work machine 1 and capable of receiving satellite signals from a plurality of positioning satellites G; a first calculation unit 43a that calculates the position VP of the work machine 1 using the satellite signals received by the receiving device 42; a second calculation unit 43b that calculates accuracy index information of the calculation result of the first calculation unit 43a based on the satellite signals received by the receiving device 42; an acquisition unit 52a that acquires the satellite signals received from the positioning satellites G by one or more base stations 61; an estimation unit 52c that estimates the accuracy index information in the vicinity of the work machine 1 based on the satellite signals acquired by the acquisition unit 52a; and a notification device 71 that provides a predetermined notification according to the degree of discrepancy between the accuracy index information calculated by the second calculation unit 43b and the accuracy index information estimated by the estimation unit 52c. 【0192】 According to the support system 101 for the work machine 1 related to item 1, the notification device 71 can provide notification according to the degree of deviation of the accuracy index by referring not only to satellite signals actually received around the work machine 1, but also to satellite signals received by the base station 61 and that can be received around the work machine 1. Therefore, by checking the notification, the worker can understand whether the positioning accuracy of the receiving device 42 of the work machine 1 is changing due to the surrounding environment of the work machine 1, or due to the region or time of day in which the work machine 1 is located. 【0193】 (Item 2) The estimation unit 52c is a support system 101 for the work machine 1 described in item 1, which estimates the accuracy index information based on the position information of the positioning satellite G that transmitted the satellite signal and is included in the satellite signal acquired by the acquisition unit 52a. 【0194】 According to the support system 101 of the work machine 1 related to item 2, since the position of the positioning satellite G can be easily obtained from the satellite signal, the estimation unit 52c can estimate accuracy index information relatively easily and reliably based on the position of the positioning satellite G. 【0195】 (Item 3) The notification device 71 is a display device 71 that, in addition to the notification, displays the accuracy index information calculated by the second calculation unit 43b and the accuracy index information estimated by the estimation unit 52c, which is the support system 101 for the work machine 1 as described in item 1 or 2. 【0196】 According to the support system 101 for the work machine 1 related to item 3, the worker can easily see and compare each piece of accuracy indicator information displayed on the display device 71. 【0197】 (Item 4) The accuracy index information is a support system 101 for the work machine 1, which includes one of items 1 to 3, including the number of positioning satellites G that the receiving device 42 can receive the satellite signal from. 【0198】 According to the support system 101 for the work machine 1 related to item 4, the number of positioning satellites G can be calculated relatively easily by referring to the satellite signals from the positioning satellites G, thereby reducing the processing burden on the second calculation unit 43b and the estimation unit 52c. 【0199】 (Item 5) The accuracy index information is a support system 101 for the work machine 1, which includes one of items 1 to 4, including the rate of horizontal accuracy degradation around the work machine 1. 【0200】 According to the support system 101 for the work machine 1 related to item 5, the horizontal accuracy degradation rate takes into account the variation in the arrangement of positioning satellites G. Therefore, by checking the notification output by the notification device 71, the worker can more accurately determine whether the positioning accuracy of the receiving device 42 of the work machine 1 is changing due to the surrounding environment of the work machine 1, or due to the region or time of day in which the work machine 1 is located. 【0201】 (Item 6) The second calculation unit 43b calculates the accuracy index information, including the position of the positioning satellite G from which the receiving device 42 can receive the satellite signal, based on the satellite signal received by the receiving device 42 from the positioning satellite G; the estimation unit 52c estimates the accuracy index information, including the position of the positioning satellite G from which the receiving device 42 can receive the satellite signal, based on the satellite signal acquired by the acquisition unit 52a; and the display device 71 displays the arrangement of the positioning satellite G based on the accuracy index information estimated by the estimation unit 52c, along with the arrangement of the positioning satellite G based on the accuracy index information calculated by the second calculation unit 43b. This is the support system 101 for the work machine 1 described in item 3, or item 4 or 5 which references item 3. 【0202】 According to the support system 101 for the work machine 1 related to item 6, the worker can easily identify the location of obstacles 111 that may obstruct the reception of satellite signals by the receiving device 42 by comparing the arrangement of positioning satellites G displayed on the display device 71 and confirming the arrangement of positioning satellites G from which the receiving device 42 is unable to receive satellite signals. 【0203】 (Item 7) The support system 101 for the work machine 1 described in any one of items 1 to 6, comprising a generation unit 52b that generates correction information based on the satellite signal acquired by the acquisition unit 52a and the position information of a predetermined reference point RP, wherein the first calculation unit 43a can calculate the position VP of the work machine 1 using the correction information generated by the generation unit 52b in addition to the satellite signal received by the receiving device 42. 【0204】 According to the support system 101 for the work machine 1 related to item 7, the first calculation unit 43a can perform highly accurate position detection by using correction information. 【0205】 (Item 8) The support system 101 for the work machine 1 described in item 7 comprises a communication device 31 provided on the work machine 1, the receiving device 42, the first calculation unit 43a, and the second calculation unit 43b are provided on the positioning device 41 of the work machine 1, the acquisition unit 52a, the estimation unit 52c, and the generation unit 52b are provided on a server 51 outside the work machine 1, the communication device 31 receives the accuracy index information calculated by the second calculation unit 43b from the positioning device 41 and the accuracy index information estimated by the estimation unit 52c from the external server 51 to calculate the deviation degree, and the notification device 71 provides notification according to the deviation degree calculated by the communication device 31. 【0206】 According to the support system 101 for the work machine 1 related to item 8, the accuracy index information calculated by the second calculation unit 43b and the accuracy index information estimated by the estimation unit 52c can be aggregated by the communication device 31. Furthermore, the entity that calculates the accuracy index information can be distributed, reducing the processing load on each processing unit such as the positioning device 41 and the server 51. 【0207】 (Item 9) The support system 101 for the work machine 1 described in item 7, comprising a communication device 31 provided on the work machine 1, the receiving device 42, the first calculation unit 43a, and the second calculation unit 43b provided on the positioning device 41 of the work machine 1, the acquisition unit 52a, the estimation unit 52c, and the generation unit 52b provided on a server 51 outside the work machine 1, the external server 51 receiving the accuracy index information calculated by the second calculation unit 43b from the positioning device 41 via the communication device 31 and calculating the deviation degree, and the notification device 71 providing notification according to the deviation degree calculated by the external server 51. 【0208】 According to the support system 101 for the work machine 1 related to item 9, the accuracy index information calculated by the second calculation unit 43b and the accuracy index information estimated by the estimation unit 52c can be aggregated by the server 51. Furthermore, the entity that calculates the accuracy index information can be distributed, reducing the processing load on each processing unit such as the positioning device 41 and the server 51. 【0209】 (Item 10) The process involves: a first step in which a receiving device 42 installed on the work machine 1 receives satellite signals from one or more positioning satellites G; a second step in which a first calculation unit 43a calculates the position VP of the work machine 1 using the satellite signals received by the receiving device 42 in the first step; a third step in which a second calculation unit 43b calculates accuracy index information of the calculation result in the second step based on the satellite signals received by the receiving device 42 in the first step; and one or more base stations 61 receiving A method for supporting a work machine 1, comprising: a fourth step in which the acquisition unit 52a acquires the satellite signal; a fifth step in which the estimation unit 52c estimates the accuracy index information around the work machine 1 based on the satellite signal acquired by the acquisition unit 52a in the fourth step; and a sixth step in which the notification device 71 makes a predetermined notification according to the degree of discrepancy between the accuracy index information calculated by the second calculation unit 43b in the third step and the accuracy index information estimated by the estimation unit 52c in the fifth step. 【0210】 According to the support method for the work machine 1 related to item 10, the notification device 71 can provide notification according to the degree of deviation of the accuracy index by referring not only to satellite signals actually received around the work machine 1, but also to satellite signals received by the base station 61 and that can be received around the work machine 1. Therefore, by checking the notification, the worker can understand whether the positioning accuracy of the receiving device 42 of the work machine 1 is changing due to the surrounding environment of the work machine 1, or due to the region or time of day in which the work machine 1 is located. 【0211】 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] 【0212】 1: Work machine 31: Communication device (vehicle communication device) 41: Positioning device 42: Receiving device 43a: 1st calculation section 43b: 2nd calculation section 51: Server 52a: Acquisition part 52b: Generation part 52c: Estimation part 61:Base station 71: Notification devices (notification devices, mobile terminals) 101: Support System 111: Obstacle G: Positioning satellite RP:Reference point

Claims

[Claim 1] A receiving device installed on a work machine and capable of receiving satellite signals from multiple positioning satellites, A first calculation unit calculates the position of the work machine using the satellite signal received by the receiving device, A second calculation unit calculates accuracy index information of the calculation result of the first calculation unit based on the satellite signal received by the receiving device, An acquisition unit that acquires the satellite signal received from the positioning satellite by one or more base stations, An estimation unit estimates the accuracy index information around the work machine based on the satellite signal acquired by the acquisition unit, A notification device that provides a predetermined notification according to the degree of discrepancy between the accuracy index information calculated by the second calculation unit and the accuracy index information estimated by the estimation unit, A support system for work machines equipped with this system. [Claim 2] The support system for a work machine according to claim 1, wherein the estimation unit estimates the accuracy index information based on the position information of the positioning satellite that transmitted the satellite signal, which is included in the satellite signal acquired by the acquisition unit. [Claim 3] The support system for a work machine according to claim 1, wherein the notification device is a display device that, in addition to the notification, displays the accuracy index information calculated by the second calculation unit and the accuracy index information estimated by the estimation unit. [Claim 4] The work machine support system according to any one of claims 1 to 3, wherein the accuracy index information includes the number of positioning satellites from which the receiving device can receive the satellite signal. [Claim 5] The work machine support system according to any one of claims 1 to 3, wherein the accuracy index information includes the rate of horizontal accuracy degradation around the work machine. [Claim 6] The second calculation unit calculates the accuracy index information, including the position of the positioning satellite from which the receiving device can receive the satellite signal, based on the satellite signal received by the receiving device from the positioning satellite. The estimation unit estimates the accuracy index information, including the position of the positioning satellite in which the receiving device can receive the satellite signal, based on the satellite signal acquired by the acquisition unit. The support system for a work machine according to claim 3, wherein the display device displays the arrangement of the positioning satellites based on the accuracy index information calculated by the second calculation unit, along with the arrangement of the positioning satellites based on the accuracy index information estimated by the estimation unit. [Claim 7] The acquisition unit comprises a generation unit that generates correction information based on the satellite signal acquired by the acquisition unit and the position information of a predetermined reference point. The support system for a work machine according to any one of claims 1 to 3, wherein the first calculation unit is capable of calculating the position of the work machine using the correction information generated by the generation unit in addition to the satellite signal received by the receiving device. [Claim 8] The aforementioned work machine is equipped with a communication device, The receiving device, the first calculation unit, and the second calculation unit are provided in the positioning device of the work machine. The acquisition unit, estimation unit, and generation unit are provided on a server outside the work machine. The communication device receives the accuracy index information calculated by the second calculation unit from the positioning device, and receives the accuracy index information estimated by the estimation unit from the external server, and calculates the degree of deviation. The support system for a work machine according to claim 7, wherein the notification device provides notification according to the degree of deviation calculated by the communication device. [Claim 9] The aforementioned work machine is equipped with a communication device, The receiving device, the first calculation unit, and the second calculation unit are provided in the positioning device of the work machine. The acquisition unit, estimation unit, and generation unit are located on a server outside the work machine. The external server receives the accuracy index information calculated by the second calculation unit from the positioning device via the communication device, and calculates the degree of deviation. The support system for a work machine according to claim 7, wherein the notification device provides notification according to the degree of deviation calculated by the external server. [Claim 10] The first step involves a receiving device installed on the work machine receiving satellite signals from one or more positioning satellites, The second step involves the receiving device using the satellite signal received in the first step to calculate the position of the work machine in the first calculation unit, A third step in which, based on the satellite signal received by the receiving device in the first step, the second calculation unit calculates accuracy index information of the calculation result in the second step, A fourth step involves the acquisition unit acquiring the satellite signal received by one or more base stations from the positioning satellite, A fifth step in which, based on the satellite signal acquired by the acquisition unit in the fourth step, the estimation unit estimates the accuracy index information around the work machine, A sixth step in which the notification device makes a predetermined notification according to the degree of discrepancy between the accuracy index information calculated by the second calculation unit in the third step and the accuracy index information estimated by the estimation unit in the fifth step, A method of assisting a work machine that includes this.

Images