Work machine support system and work machine support method

Abstract

To appropriately select correction information.SOLUTION: A work machine support system comprises: an acquisition section that acquires satellite signals received by a plurality of base stations respectively provided at predetermined reference points from positioning satellites; a generation section that generates first correction information based on the satellite signals received by the base stations and reference points of the base stations, and generates second correction information including a virtual reference point on the basis of satellite signals received by three or more predetermined base stations and reference points of the three or more base stations from among the plurality of base stations; a selection section that selects any correction information of the first correction information and the second correction information generated by the generation section; and a position detector that detects a position of a work machine on the basis of the correction information generated by the generation section. The selection section selects the correction information for each work area where the work machine performs work.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] As shown in Patent Document 1, the RTK (Real Time Kinematic) method is known as a technology that realizes high-precision positioning relatively easily. This RTK method includes the RRS (Real Reference Station)-GNSS method, which uses the real reference point (absolute position) of a base station (electronic reference station) as the reference point, and the VRS (Virtual Reference Station)-GNSS method, which uses a virtual reference point virtually created near a mobile station as the reference point. [Prior art documents] [Patent documents]

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

[0004] In the RRS-GNSS system, VRS-GNSS system, and the like, correction information based on satellite signals transmitted from reference points and positioning satellites is transmitted to the mobile station, and the mobile station calculates the position of the mobile station based on the satellite signals and the correction information, thereby improving the positioning accuracy of the mobile station.

[0005] In addition, depending on conditions such as the relative positions of the mobile station and the base station, there may be a difference in the position detection accuracy between the RRS-GNSS method and the VRS-GNSS method, and it may be necessary to switch between the RRS-GNSS method and the VRS-GNSS method depending on the situation.

[0006] However, when an operator manually switches between the above methods, the switching operation becomes cumbersome. Furthermore, if the operator fails to select an appropriate method, the positioning accuracy may decrease. Furthermore, if the method is frequently switched, the detected position may fluctuate each time the method is switched.

[0007] The present invention has been made to solve such problems in the conventional technology, and has an object to provide a work machine support system and a work machine support method that are capable of appropriately selecting correction information. [Means for solving the problem]

[0008] A work machine support system according to one embodiment of the present invention includes an acquisition unit that acquires satellite signals from positioning satellites received by a plurality of base stations each installed at a predetermined reference point, a generation unit that generates first correction information based on the satellite signals received by the base stations and the reference points of the base stations, and generates second correction information including a virtual reference point based on the satellite signals received by three or more predetermined base stations among the plurality of base stations and the reference points of the three or more base stations, a selection unit that selects one of the first correction information and the second correction information generated by the generation unit, and a position detection device that detects the position of a work machine based on the correction information generated by the generation unit, and the selection unit selects the correction information for each work area where the work machine performs work.

[0009] The selection unit may select the correction information based on specified conditions at each position of a specified region obtained by dividing the work area into specified ranges, and select, for each work area, the correction information that has the largest selected area within the work area.

[0010] The work area may be defined in advance based on a farm field in which the work machine is to perform work.

[0011] The work area may be predefined based on a contour of the field.

[0012] The work area may be defined in advance as a work region in which the work machine performs a series of operations.

[0013] The work area may be defined in advance as a travel area in which the work machine performs automatic travel before the automatic travel is performed.

[0014] The selection unit may select, when the work machine enters or leaves the work area, the correction information corresponding to the work area in which the work machine is located.

[0015] The selection unit may select the correction information according to a positional relationship between a polygonal area connecting the reference points of three or more base stations and the work machine.

[0016] When the work machine is located inside the area, the selection unit may preferentially select the satellite signals received by the three or more base stations and the second correction information based on the reference points of the three or more base stations.

[0017] When the distance between each of the reference points of the three or more base stations is less than a first distance, the selection unit may preferentially select the satellite signals received by the three or more base stations and the second correction information based on the reference points of the three or more base stations.

[0018] The selection unit may preferentially select the first correction information based on the satellite signal received by the base station closest to the work machine.

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

[0020] When the work machine is located inside the area, the distance between each of the reference points of the three or more base stations is a first distance or more, and the relative distance between the work machine and the reference point of the base station among the reference points of the three or more base stations that is closest to the work machine is a predetermined second distance or more, the selection unit may preferentially select the satellite signals received by the three or more base stations and the second correction information based on the reference points of the three or more base stations.

[0021] The support system for the work machine may include a definition unit that defines the first distance depending on the content of the work performed by the work machine.

[0022] The support system for the work machine may include a definition unit that defines the second distance depending on the content of the work performed by the work machine.

[0023] When the position detection accuracy, which is the accuracy of position detection based on the selected correction information, is less than a predetermined height, the selection unit may use, instead of the correction information, another work machine in the vicinity of the work machine, whose position detection accuracy is equal to or greater than the height.

[0024] When there is a history of selecting a plurality of different correction information in the work area, the selection unit may select the correction information with high position detection accuracy based on the position detection accuracy of each of the correction information.

[0025] The work machine assistance system may be provided on the work machine and may include a control device that controls the automatic driving of the work machine based on the position of the work machine detected by the position detection device and a predetermined planned driving route created on a map indicating the work area.

[0026] A method of supporting a work machine according to one embodiment of the present invention includes a first step in which a selection unit selects one of: first correction information based on a satellite signal from a positioning satellite received by a base station and a reference point of the base station that received the satellite signal; and second correction information including a virtual reference point based on the satellite signal received by three or more specified base stations and the reference points of the three or more base stations; a second step in which a generation unit generates the correction information selected in the first step; and a third step in which a position detection device detects the position of a work machine based on the correction information generated by the generation unit in the second step, wherein in the first step, the selection unit selects the correction information for each work area in which the work machine performs work. Effect of the Invention

[0027] According to the above-described work machine support system and work machine support method, it is possible to appropriately select correction information. [Brief description of the drawings]

[0028] [Figure 1] FIG. 2 is a schematic diagram of a support system for a work machine. [Diagram 2] FIG. 1 is a diagram showing a working machine that performs automatic traveling. [Diagram 3] FIG. [Figure 4] FIG. 2 is a block diagram of a support system for a work machine. [Diagram 5] FIG. 2 is a diagram showing an example of a satellite display screen. [Figure 6A] 1 is a diagram illustrating a flow of a process in which an assistance device generates correction information and the work machine detects the vehicle body position based on the correction information in a work machine assistance system. [Figure 6B] 1 is a diagram illustrating a flow of a process in which an assistance device generates correction information and the work machine detects the vehicle body position based on the correction information in a work machine assistance system. [Figure 6C] 1 is a diagram illustrating a flow of a process in which an assistance device generates correction information and the work machine detects the vehicle body position based on the correction information in a work machine assistance system. [Figure 7] 11 is a diagram illustrating a flow of a process in which an assistance device generates correction information and the work machine detects the vehicle body position based on the correction information in a work machine assistance system of a first modified example. FIG. [Figure 8] 13 is a diagram illustrating a flow of a process in which an assistance device generates correction information and the work machine detects the vehicle body position based on the correction information in a work machine assistance system of a second modified example. FIG. [Figure 9] 13 is a diagram illustrating a flow of a process in which the support device generates correction information and the work machine detects the vehicle body position based on the correction information in a support system for a work machine according to a third modified example. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0029] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a schematic diagram of a support system s1 for a work machine 1, which includes a support device (server) 50 for the work machine 1 and the work machine 1. The work machine 1 can determine its own position (vehicle body position VP) based on satellite signals transmitted from multiple positioning satellites G of multiple satellite positioning systems s2 and correction information transmitted from the support device 50. In this embodiment, the support system s1 for the work machine 1 includes a mobile terminal 30 that relays communication between the work machine 1 and the support device 50.

[0030] The satellite positioning system s2 (GNSS: Global Navigation Satellite System) has a plurality of positioning satellites G. The plurality of satellite positioning systems s2 include GLONASS (Global Navigation Satellite System), Galileo, QZSS (Quasi Zenith Satellite System), EGNOS (European Geostationary Navigation Overlay Service), Beidou (Beidou Navigation Satellite System), and the like.

[0031] FIG. 2 shows a situation in which the work machine 1 is automatically traveling along the planned travel route L based on the measured vehicle body position VP. In this embodiment, the work machine 1 performs automatic traveling based on its own measured position (vehicle body position) VP and the planned travel route L.

[0032] First, the working machine 1 will be described. The working machine 1 is, for example, an agricultural machine such as a tractor, a combine harvester, or a rice transplanter. Fig. 3 is a diagram showing a tractor as an example of the working machine 1. As shown in Fig. 3, the working machine 1 includes a machine body (vehicle body) 3, a prime mover 4, and a transmission 5. The vehicle body 3 is provided with a traveling device 7, which has front wheels 7F and rear wheels 7R. The vehicle body 3 is provided with a cabin 9, and a driver's seat 10 is provided within the cabin 9.

[0033] The prime mover 4 is a diesel engine, an electric motor, etc. The transmission 5 is capable of changing the speed and switching the rotation direction of the power transmitted to the traveling device 7 by changing the speed (to move the vehicle body 3 forward and backward).

[0034] 3, a lifting device 8 configured with a three-point link mechanism or the like is provided at the rear of the vehicle body 3. A working device (implement) 2 is detachably attachable to the lifting device 8. The working machine 1 can tow the working device 2 by connecting the working device 2 to the lifting device 8.

[0035] The work equipment 2 includes a digging equipment (harvesting equipment) for digging up potatoes and carrots, a spreading equipment such as a fertilizer spreading equipment (fertilizing equipment) for spreading fertilizer and a pesticide spreading equipment for spreading pesticides, a sowing equipment for sowing seeds in a field, a harvesting equipment for harvesting, a digging equipment for harvesting grass and the like, a spreading equipment for spreading grass and the like, a grass collecting equipment for collecting grass and the like, a shaping equipment for shaping grass and the like, and a ground work equipment for performing ground work on a field, etc. The ground work equipment includes a rough tilling equipment (stubble cultivator) for performing rough tilling, a tilling equipment (drive harrow) for performing tilling work, a tilling equipment (rotary tiller) for performing tilling work, etc.

[0036] FIG. 4 is a block diagram of the support system s1 of the working machine 1. As shown in FIG. 3 and FIG. 4, the working machine 1 is provided with a steering device 11. The steering device 11 has a handle (steering wheel) 11a, a rotating shaft (steering shaft) 11b that rotates with the rotation of the handle 11a, and an assist mechanism (power steering mechanism) 11c that assists the steering of the handle 11a. The assist mechanism 11c includes a hydraulic pump 12, a control valve 13 to which hydraulic oil discharged from the hydraulic pump 12 is supplied, and a steering cylinder 14 that is operated by the control valve 13. The control valve 13 is an electromagnetic valve that operates based on a control signal. The control valve 13 is, for example, a three-position switching valve that can be switched by the movement of a spool or the like. The control valve 13 can also be switched by steering the steering shaft 11b. The steering cylinder 14 is connected to an arm (knuckle arm) 15 that changes the direction of the front wheels 7F.

[0037] Therefore, by operating the steering wheel 11a, the switching position and opening degree of the control valve 13 are switched in response to the steering wheel 11a. As a result, the steering cylinder 14 expands and contracts to the left or right in response to the switching position and opening degree of the control valve 13, thereby changing the steering direction of the front wheels 7F. Note that the above-mentioned steering device 11 is an example, and is not limited to the above-mentioned configuration.

[0038] As shown in FIG. 4, the work machine 1 includes a vehicle body communication device 21, a position detection device (vehicle body positioning device) 22, a control device (vehicle body control device) 23, and a vehicle body storage device 24. The vehicle body communication device 21 is a device that can receive various data from the outside of the work machine 1 (for example, the support device 50) and transmit various data to the outside. The vehicle body communication device 21 performs wireless communication with the outside, for example, by Wi-Fi (Wireless Fidelity, registered trademark) of the IEEE802.11 series, which is a communication standard, a mobile phone communication network, a data communication network, or the like. The vehicle body communication device 21 has a communication control device 21a that is composed of electric and electronic circuits, a CPU, a program stored in a memory, or the like. The communication control device 21a performs various controls related to the vehicle body communication device 21. In this embodiment, the vehicle body communication device 21 communicates with the support device 50 via a mobile terminal 30 carried by the worker. That is, in this embodiment, the vehicle body communication device 21 communicates with the assistance device 50 using the mobile terminal 30 as an access point.

[0039] Specifically, the vehicle body communication device 21 communicates with the mobile terminal 30 via Wi-Fi (registered trademark), and the mobile terminal 30 communicates with the support device 50 via a mobile phone communication network. The vehicle body communication device 21 requests correction information for performing positioning by the RTK method from the support device 50 via the mobile terminal 30, for example, and receives the correction information from the support device 50 via the mobile terminal 30. The vehicle body communication device 21 outputs the received correction information to the position detection device 22. The vehicle body communication device 21 requests correction information at predetermined time intervals.

[0040] When the work machine 1 performs positioning using the RRS-GNSS method, the correction information is, for example, position information (e.g., information including latitude and longitude) of a reference point (absolute position) RP of the base station 40 and distance information between the reference point RP and a positioning satellite G. When the work machine 1 performs positioning using the VRS-GNSS method, the correction information is, for example, position information of a virtual reference point VRP virtually defined in the vicinity of the work machine 1 and distance information between the virtual reference point VRP and a positioning satellite G. In the following description, the correction information used in the RRS-GNSS method may be referred to as "first correction information," and the correction information used in the VRS-GNSS method may be referred to as "second correction information."

[0041] The position detection device 22 is a device that receives satellite signals (positions of the positioning satellites G, transmission times when the positioning satellites G transmitted the satellite signals, etc.) transmitted from a plurality of positioning satellites G, and locates the position (vehicle position VP) of the vehicle body 3 (work machine 1). The position detection device 22 has an antenna 22a that receives satellite signals. The position detection device 22 locates the vehicle body position VP by the RTK method based on the satellite signals received by the antenna 22a and correction information received by the vehicle body communication device 21. When the vehicle body communication device 21 receives correction information, the position detection device 22 acquires the correction information, and performs positioning by the RRS-GNSS method or the VRS-GNSS method based on the satellite signals and the correction information. As shown in FIG. 3, the position detection device 22 is attached to the vehicle body 3, specifically, to the cabin 9.

[0042] The position detection device 22 determines the integer bias of the satellite signal received by the antenna 22a from the positioning satellite G, and calculates the ratio of fix solutions for which the integer bias has been determined to all positioning solutions as a fix rate.

[0043] Furthermore, the position detection device 22 may be capable of independent positioning based on a satellite signal received by the antenna 22a. When the position detection device 22 has a plurality of antennas 22a, the position detection device 22 may calculate the orientation (vehicle orientation) of the vehicle body 3 based on the determined vehicle body position VP.

[0044] The position detection device 22 may also include an inertial measurement unit (IMU) 22b. The inertial measurement unit 22b includes an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, etc. In this case, the position detection device 22 uses information detected by the inertial measurement unit 22b to complement the position information determined by the satellite signal received by the antenna 22a.

[0045] The control device 23 is provided inside the vehicle body 3 or the cabin 9, and is configured from electric / electronic circuits, a CPU, programs stored in a memory, etc. The control device 23 controls various devices connected to the in-vehicle network N of the work machine 1. The control device 23 also performs various types of arithmetic processing based on input signals.

[0046] The vehicle body storage device 24 is a storage medium such as an SSD (Solid State Drive) or an HDD (Hard Disk Drive), and stores various information related to the work machine 1.

[0047] 4, the control device 23 has an automatic driving control unit 23a and a setting unit 23b. The automatic driving control unit 23a and the setting unit 23b are configured with electric and electronic circuits, a CPU, and programs stored in a memory provided in the control device 23.

[0048] The automatic driving control unit 23a controls the steering angle (rotation angle of the steering shaft 11b) and traveling speed (vehicle speed) of the vehicle body 3 so that the vehicle body 3 travels along the planned traveling route L. As shown in FIG. 2, the planned traveling route L includes, for example, a straight section L1 for straight traveling and a turning section L2 for turning. The planned traveling route L is stored in the vehicle body storage device 24 and is created on an area map including a work area H where the work machine 1 performs work. The work area H is a predefined area, and is defined in advance, for example, before the automatic traveling is performed, as a traveling area where the work machine 1 performs automatic traveling.

[0049] In this embodiment, the work area H is defined in advance based on the field in which the work machine 1 will perform work. Specifically, the work area H is defined in advance based on the contours of the field. Note that the work area H may not be defined based on the field, but may be defined in advance as a work region in which the work machine 1 will perform a series of works.

[0050] The work area H may be stored in advance in the vehicle body storage device 24, or may be created (defined) based on the vehicle body position VP detected by the position detection device 22 when the work implement 1 actually travels around the periphery of the field. In addition, the planned travel route L may be created based on information inputted via an input interface.

[0051] The input interface is, for example, a display device 16 that is provided in the work machine 1 and allows input operations. The display device 16 has, for example, a touch pad or hardware switches, in addition to a display screen 16a that displays a screen. Note that the input interface may be a mobile terminal 30 such as a smartphone, as long as it allows at least an operation for inputting information and the control device 23 can acquire the input information.

[0052] Furthermore, the planned travel route L may be stored in advance in the vehicle body storage device 24, or may be created (defined) based on the vehicle body position VP detected by the position detection device 22 when the work machine 1 actually travels. Furthermore, the planned travel route L may be created based on information inputted via an input interface.

[0053] Also, the input interface may create the work area H and the planned driving route L, or another arithmetic processing device may create the work area H and the planned driving route L based on information input by the input interface.

[0054] The automatic driving control unit 23a automatically changes the control valve 13 of the steering device 11, the gear stage of the transmission 5, the rotation speed of the prime mover 4, etc., based on the vehicle position VP and / or vehicle orientation (at least one of the vehicle position VP and the vehicle orientation) measured by the position detection device 22 and the planned driving route L.

[0055] For example, the automatic driving control unit 23a controls the steering angle so that the position deviation between the vehicle body position VP and the planned driving route L is less than a threshold (automatic driving control). That is, when the position deviation between the vehicle body position VP and the planned driving route L is less than the threshold, the automatic driving control unit 23a controls the control valve 13 of the steering device 11 to maintain the steering angle. On the other hand, when the position deviation between the vehicle body position VP and the planned driving route L is equal to or greater than the threshold, the automatic driving control unit 23a controls the control valve 13 of the steering device 11 to change the steering angle in a direction in which the position deviation becomes smaller. In addition, the automatic driving control unit 23a changes the driving speed depending on, for example, whether the vehicle body position VP is located in the straight section L1 or the turning section L2 of the planned driving route L. The automatic driving control unit 23a controls the driving speed to be lower when the vehicle body position VP is located in the turning section L2 than when the vehicle body position VP is located in the straight section L1.

[0056] The above-described automatic driving control is merely an example, and the present invention is not limited to this control.

[0057] In the above embodiment, the control device 23 has the automatic driving control unit 23a, but the work machine 1 only needs to be able to perform work based on the vehicle body position VP measured by the position detection device 22. For example, the control device 23 may have an automatic steering control unit that controls the steering angle of the vehicle body 3 so that the vehicle body 3 travels along the planned travel route L, in addition to or instead of the automatic driving control unit 23a. The display device 16 may display the current position of the work machine 1 on an area map based on the vehicle body position VP measured by the position detection device 22 and an area map that is stored in the storage device 53 and includes the work area H.

[0058] The setting unit 23b sets information (request information) to be transmitted to the assistance device 50 when the vehicle body communication device 21 requests correction information from the assistance device 50. The request information includes position information of the vehicle body position VP measured by the position detection device 22. The position information of the vehicle body position VP included in the request information is position information measured by the position detection device 22 using the RTK method. However, when the position detection device 22 cannot perform positioning using the RTK method (for example, when the vehicle body communication device 21 has not yet received correction information, such as immediately after the start of the work machine 1), the position information may be position information measured by stand-alone positioning.

[0059] In this embodiment, the request information includes, in addition to the position information of the vehicle body position VP, identification information indicating the work implement 1 and application information indicating the work content of the work implement 2. The identification information indicating the work implement 1 is a unique character string for identifying each individual work implement 1. This identification information is stored in advance in, for example, the vehicle body storage device 24.

[0060] Moreover, the use information is information indicating the work content of the work device 2 connected to the work machine 1. The setting unit 23b acquires the work content and sets the use information based on the information inputted through the input interface. For example, the display device 16 displays a predetermined work selection screen on the display screen 16a and accepts a selection operation of options displayed on the work selection screen. The setting unit 23b acquires the information inputted by the display device 16 through the selection operation.

[0061] In addition, the setting unit 23b may acquire the work content from a source other than the input interface, and when the work device 2 and the control device 23 are communicatively connected and the control device 23 can identify the work content based on the identification information of the work device 2, etc., the setting unit 23b may acquire the identified work content.

[0062] Moreover, the information included in the request information described above is merely an example, and for example, authentication information for authenticating communication between the work machine 1 and the support device 50 may be included.

[0063] The mobile terminal 30 is a terminal carried by a worker, such as a smartphone (multi-function mobile phone), a tablet, a PDA, etc. The mobile terminal 30 has a terminal display screen 31, a terminal computing device 32, a terminal storage device 33, and a terminal communication device 34.

[0064] The terminal display screen 31 is rectangular and is composed of a panel such as a liquid crystal display or an organic EL display, and can transition to various screens under the control of the terminal computing device 32.

[0065] The terminal computing device 32 is a device that performs various controls for the mobile terminal 30, and is composed of a CPU, electric and electronic circuits, and the like.

[0066] The terminal storage device 33 is a non-volatile memory or the like, and can store various programs and various information related to the mobile terminal 30. The terminal storage device 33 stores various control programs and various data in advance.

[0067] The terminal communication device 34 performs wireless communication with the work machine 1 (body communication device 21) and the support device 50, for example, via Wi-Fi (registered trademark), a mobile phone communication network, or a data communication network. The terminal communication device 34 is a device that can receive various data from outside the mobile terminal 30 (for example, the work machine 1 or the support device 50) and transmit various data to the outside. Therefore, the mobile terminal 30 can relay communication between the body communication device 21 and the support device 50 by the terminal communication device 34. In addition, the mobile terminal 30 can display a display image based on information received from the support device 50 via the terminal communication device 34 on the terminal display screen 31.

[0068] The support device 50 is a fixed terminal (server) such as a fixed type computer provided outside the work machine 1. The support device 50 is a device that acquires satellite signals received from a plurality of positioning satellites G by a plurality of base stations 40 provided at respective predetermined reference points RP, and generates correction information based on the satellite signals. The base stations 40 that transmit the satellite signals to the support device 50 will be described in detail below.

[0069] As shown in Fig. 1, a base station 40 is provided at a predetermined reference point RP and receives satellite signals from a positioning satellite G. The base station 40 is a fixed base station 40 installed at a predetermined reference point (absolute position) RP by, for example, the Geospatial Information Authority of Japan, an agricultural machinery manufacturer, an agricultural cooperative, or a management company. A plurality of base stations 40 are provided in a work area H and around a work machine 1 located in the work area H. Each of the plurality of base stations 40 includes a base communication device 41, a base positioning device 42, a base computing device 43, and a base storage device 44.

[0070] The base communication device 41 is a device that transmits various data to the outside of the base station 40 (for example, the support device 50) and receives data transmitted from the outside. The base communication device 41 performs wireless communication with the outside, for example, by Wi-Fi (registered trademark), a mobile phone communication network, or a data communication network. In this embodiment, the base communication device 41 transmits observation information (information based on satellite signals) as data to the support device 50 via a management center. The management center is a fixed terminal (server) such as a fixed type computer provided outside the work machine 1, and is installed, for example, at an agricultural machinery manufacturer, an agricultural cooperative, or a management company.

[0071] Note that the base communication device 41 only needs to be able to transmit the observation information to the support device 50, and may transmit the observation information directly to the support device 50 without going through the management center.

[0072] The base positioning device 42 is a device that receives satellite signals transmitted from the positioning satellites G. The base positioning device 42 has an antenna 42a that receives the satellite signals.

[0073] The base computing device 43 is a device configured from electric and electronic circuits, a CPU, programs stored in a memory, etc. The base computing device 43 performs various arithmetic processing related to the base station 40. The base computing device 43 defines (calculates) the observation information transmitted by the base communication device 41. For example, the base computing device 43 defines the observation information by adding its own identification information (e.g., a predetermined character string) to the satellite signal and the reception time when the base positioning device 42 received the satellite signal.

[0074] The base computing device 43 may define the observation information by adding its own reference point RP (specifically, the position information of the reference point RP) to the satellite signal.

[0075] The base storage device 44 is a storage medium such as an SSD (Solid State Drive) or an HDD (Hard Disk Drive), and stores various information related to the base station 40. The base storage device 44 stores, for example, identification information of the base station 40 and position information of the reference point RP.

[0076] The support device 50 will be described in detail below. As shown in FIG. 4, the support device 50 includes a communication device 51, a calculation device 52, and a storage device 53. The communication device 51 is a device that transmits various data to the outside of the support device 50 (for example, the work machine 1 or the base station 40) and receives data transmitted from the outside (for example, the work machine 1 or the base station 40). The communication device 51 performs wireless communication with the outside, for example, by Wi-Fi (registered trademark), a mobile phone communication network, or a data communication network. In this embodiment, the communication device 51 indirectly receives observation information from the base communication device 41 via the management center, and indirectly receives request information from the vehicle body communication device 21 via the mobile terminal 30. The communication device 51 also indirectly transmits correction information to the vehicle body communication device 21 via the mobile terminal 30.

[0077] The arithmetic device 52 is a device configured from electric and electronic circuits, a CPU, programs stored in a memory, etc. The arithmetic device 52 performs various arithmetic processes related to the assistance device 50.

[0078] The storage device 53 is a storage medium such as an SSD (Solid State Drive) or an HDD (Hard Disk Drive), and stores various information related to the support device 50. For example, the storage device 53 stores identification information of each base station 40 and position information of a reference point RP of the base station 40 in association with each other.

[0079] The support device 50 generates correction information (first correction information) used in the RRS-GNSS method based on the satellite signal received by the base station 40 and the reference point RP of the base station 40. The support device 50 also generates correction information (second correction information including the satellite signal received by three or more predetermined base stations 40 among the multiple base stations 40 and the virtual reference point VRP based on the reference point RP of the three or more base stations 40) used in the VRS-GNSS method based on the satellite signal and the reference point RP. As shown in FIG. 4, the support device 50 (the calculation device 52) has a reception control unit 52a, a signal acquisition unit 52b, a selection unit 52c, a selection unit 52d, a definition unit 52e, a management unit 52f, a generation unit 52g, a transmission control unit 52h, and a state management unit 52i. The receiving control unit 52a, the signal acquisition unit 52b, the selection unit 52c, the selection unit 52d, the definition unit 52e, the management unit 52f, the generation unit 52g, the transmission control unit 52h, and the status management unit 52i are software, and are composed of electric and electronic circuits, a CPU, and programs stored in memory provided in the calculation device 52.

[0080] The software contained in the arithmetic unit 52 will be described in detail below.

[0081] The reception control unit 52a is software that controls the communication device 51 to cause the communication device 51 to receive information from the outside. The reception control unit 52a causes the communication device 51 to receive information (e.g., request information) transmitted from the vehicle body communication device 21 via the mobile terminal 30. The reception control unit 52a also causes the communication device 51 to receive information (e.g., observation information) transmitted from the base communication device 41 via the management center.

[0082] The signal acquisition unit 52b is software that acquires satellite signals received by the multiple base stations 40 from the multiple positioning satellites G. The signal acquisition unit 52b acquires the satellite signals from the observation information that the reception control unit 52a has caused the communication device 51 to receive.

[0083] The selection unit 52c is software that selects one or more positioning satellites G from among the multiple positioning satellites G. The selection unit 52c selects a positioning satellite G that corresponds to the correction information used by the position detection device 22. In this embodiment, the selection unit 52c selects a positioning satellite G that transmits a satellite signal that the generation unit 52g uses to create the correction information. Specifically, when the number of positioning satellites G that do not satisfy a predetermined condition (normal condition) and are determined to be abnormal among the multiple positioning satellites G of the satellite positioning system s2 such as GLONASS, Galileo, QZSS, EGNOS, and BeiDou is equal to or greater than a predetermined threshold (reference number), the selection unit 52c does not select the multiple positioning satellites G of the satellite positioning system s2. On the other hand, when the number of positioning satellites G determined to be abnormal among the multiple positioning satellites G possessed by the satellite positioning system s2 is less than the reference number, the selection unit 52c selects only the positioning satellites G determined to be normal among the multiple positioning satellites G possessed by the satellite positioning system s2. The selection unit 52c determines whether the positioning satellite G satisfies the normal condition, for example, every predetermined period (10 seconds), and selects the positioning satellite G. Note that the selection unit 52c may determine whether the positioning satellite G satisfies the normal condition at a predetermined timing at the time of system startup, rather than at a predetermined period.

[0084] The reference number is defined according to, for example, the total number of positioning satellites G that each satellite positioning system s2 has. In this embodiment, the reference number is defined by the ratio (reference ratio) of positioning satellites G that are determined to be abnormal among the multiple positioning satellites G that each satellite positioning system s2 has. Specifically, the reference number is defined by multiplying the total number of positioning satellites G that each satellite positioning system s2 has by the reference ratio. The reference ratio is a value stored in the storage device 53, and is defined as, for example, 50%. Note that the reference ratio may be changeable to any value, such as 40% or 60%, via an input interface communicatively connected to the support device 50.

[0085] For example, if the number of positioning satellites G that are determined to be abnormal and do not satisfy the normal conditions among the multiple positioning satellites G of GLONASS among the multiple satellite positioning systems s2 is equal to or greater than a reference number, the selection unit 52c does not select the multiple positioning satellites G of the GLONASS. On the other hand, if the number of positioning satellites G that are determined to be abnormal and do not satisfy the normal conditions among the multiple positioning satellites G of Galileo at this time is less than the reference number, the selection unit 52c selects the positioning satellites G that satisfy the normal conditions among the multiple positioning satellites G of the Galileo.

[0086] The selection unit 52c manages the positioning satellites G using a management table (first management table) stored in the storage device 53. The selection unit 52c assigns a first selection flag to the identification information of the positioning satellite G that satisfies the normal condition in the first management table.

[0087] Furthermore, the selection unit 52c manages the satellite positioning system s2 by using a management table (second management table) stored in the storage device 53. The selection unit 52c assigns a second selection flag to the identification information of the satellite positioning system s2 in which the number of positioning satellites G that satisfy the normal condition is less than a reference number in the second management table.

[0088] The selection unit 52c creates a selection table for managing the selected positioning satellites G based on the first management table and the second management table, and stores the selection table in the storage device 53. If the storage device 53 has already stored a selection table, the selection unit 52c updates the selection table stored in the storage device 53.

[0089] Furthermore, when the number of positioning satellites G that do not satisfy the normal condition among the multiple positioning satellites G possessed by the satellite positioning system s2 is greater than or equal to a threshold (reference number) and the number of positioning satellites G that do not satisfy the normal condition falls below the reference number, the selection unit 52c may select the normal positioning satellites G that satisfy the normal condition in order. In other words, when the number of positioning satellites G determined to be abnormal among the multiple positioning satellites G possessed by the satellite positioning system s2 is greater than or equal to the reference number and the selection unit 52c has not selected the multiple positioning satellites G possessed by the satellite positioning system s2, when the number of positioning satellites G determined to be abnormal among the multiple positioning satellites G possessed by the satellite positioning system s2 falls below the reference number, the selection unit 52c adds the normal positioning satellites G that satisfy the normal condition to the already selected positioning satellites G and selects them. The selection unit 52c newly selects a positioning satellite G that has not been selected at a predetermined time interval (for example, 10 seconds).

[0090] When the number of positioning satellites G that satisfy the normal conditions among the multiple positioning satellites G that the satellite positioning system s2 has becomes equal to or greater than a reference number, the selection table is updated by selecting the positioning satellites G that satisfy the normal conditions among the multiple positioning satellites G that the satellite positioning system s2 has every 10 seconds. This allows the selection unit 52c to newly select a positioning satellite G that has not been selected every 10 seconds.

[0091] Therefore, when the number of positioning satellites G determined to be abnormal among the multiple positioning satellites G possessed by the satellite positioning system s2 is equal to or greater than a reference number, if the number of positioning satellites G determined to be abnormal among the multiple positioning satellites G possessed by the satellite positioning system s2 falls below the reference number, the positioning satellites G selected by the selection unit 52c are increased by one every 10 seconds.

[0092] In addition, when the number of positioning satellites G that do not satisfy the normal conditions among the multiple positioning satellites G possessed by the satellite positioning system s2 is greater than or equal to a threshold (reference number) and falls below the reference number, the selection unit 52c only needs to select normal positioning satellites G that satisfy the normal conditions in order, and the selection processing method is not limited to the method described above.

[0093] In the above description, the reference number is defined by multiplying the number of positioning satellites G that the satellite positioning system s2 has by the reference ratio, but the selection unit 52c only needs to be able to determine whether the number of positioning satellites G is equal to or greater than the reference number. The reference number may be defined in advance for each satellite positioning system s2, regardless of the reference ratio. In such a case, the reference number may be changed to an arbitrary value via an input interface that is communicatively connected to the support device 50.

[0094] In addition, in the above-mentioned embodiment, an example was given of a case where the reference number is defined according to the number of multiple positioning satellites G possessed by the satellite positioning system s2, but the reference number may not be defined for each satellite positioning system s2, and the determination unit 52i1 may use the same number of reference numbers in each satellite positioning system s2.

[0095] Hereinafter, the conditions (normal conditions) under which the selection unit 52c judges that the positioning satellite G is normal will be described. The selection unit 52c judges whether the health information (health and hygiene status: SVhealth) of the positioning satellite G that is included in the satellite signal and that transmitted the satellite signal is normal or not (first normal condition). The health information of the positioning satellite G is a code indicating whether the positioning satellite G that transmitted the satellite signal is normal or not. Therefore, the selection unit 52c can check the health information of the positioning satellite G and judge whether the positioning satellite G is normal or not. Therefore, the selection unit 52c can judge whether any of the positioning satellites G of the satellite positioning system s2 is normal or not based on the health information of the satellite signal acquired by the signal acquisition unit 52b. Note that when the health information of the positioning satellite G is "0", it indicates that the satellite signal is normal and the positioning satellite G is normal. On the other hand, when the health information of the positioning satellite G is "1", it indicates that some or all of the satellite signals are abnormal and the positioning satellite G is abnormal.

[0096] Furthermore, the selection unit 52c may determine, as a normal condition, whether or not a second calculated distance between the positioning satellite G and the base station 40 calculated based on the satellite signal is appropriate, relative to a first calculated distance between the positioning satellite G and the base station 40 calculated based on the position of the positioning satellite G that transmitted the satellite signal and the position of the reference point RP of the base station 40 (second normal condition). Here, the first calculated distance is the actual distance between the positioning satellite G and the base station 40. On the other hand, the second calculated distance is a calculated distance calculated based on the satellite signal.

[0097] Specifically, the selection unit 52c identifies the positioning satellite G that transmitted the satellite signal and the base station 40 that received the satellite signal from the observation information acquired from the management unit 52f described later. The selection unit 52c requests the reception control unit 52a to receive the position information of the identified positioning satellite G from the outside (for example, a management center). In response to the request, the reception control unit 52a causes the communication device 51 to receive the position information of the positioning satellite G from the management center, and the selection unit 52c acquires the position information of the positioning satellite G. The selection unit 52c also acquires the position information of the reference point RP of the base station 40 stored in the storage device 53. As a result, the selection unit 52c calculates a first calculation distance based on the position information of the positioning satellite G and the position information of the reference point RP of the base station 40.

[0098] The source of the position information of the positioning satellite G and the position information of the reference point RP of the base station 40 is not limited to the management center or the storage device 53, and the selection unit 52c may obtain the information from a server other than the management center.

[0099] In addition, the selection unit 52c extracts the transmission time when the positioning satellite G transmitted the satellite signal and the reception time when the base positioning device 42 received the satellite signal from the satellite signal included in the observation information, and calculates the second calculation distance by multiplying the difference between the transmission time and the reception time by the speed of the radio waves.

[0100] This allows the selection unit 52c to calculate the distance (satellite-to-receiver distance) between a predetermined positioning satellite G and a predetermined base station 40 using the first calculated distance and the second calculated distance. The selection unit 52c also determines whether the second calculated distance, which is the calculated distance between the predetermined positioning satellite G and the base station 40, is appropriate for the first calculated distance, which is the actual distance between the predetermined positioning satellite G and the base station 40.

[0101] For example, when the ratio of the error (error rate) of the second calculated distance to the first calculated distance is less than a predetermined reference error rate, the selection unit 52c determines that the second calculated distance is appropriate for the first calculated distance. On the other hand, when the error rate of the second calculated distance to the first calculated distance is equal to or greater than the reference error rate, the selection unit 52c determines that the second calculated distance is inappropriate for the first calculated distance. In this embodiment, the error rate is 0.000005%.

[0102] The reference error rate may be changed to an arbitrary value via an input interface communicatively connected to the support device 50.

[0103] In the present embodiment, the selection unit 52c judges whether the second calculated distance is appropriate for the first calculated distance based on the error rate in judging the second normal condition, but the method of judgment is not limited to the error rate. For example, the selection unit 52c may judge whether the second calculated distance is appropriate for the first calculated distance based on whether the absolute value of the difference (error) between the first calculated distance and the second calculated distance is less than a predetermined judgment value.

[0104] The selection unit 52d is software that selects either the first correction information or the second correction information generated by the generation unit 52g. The selection unit 52d selects either the first correction information or the second correction information based on one or more conditions (selection conditions). In other words, the selection unit 52d selects whether to cause the position detection device 22 to perform positioning using the RRS-GNSS method or the VRS-GNSS method based on one or more selection conditions, and also selects the base station 40 that receives the satellite signal for generating the correction information.

[0105] Furthermore, the selection unit 52d selects correction information for each work area H in which the work machine 1 performs work. In this embodiment, the selection unit 52d selects correction information based on one or more selection conditions at each position within a predetermined region obtained by dividing the work area H into predetermined ranges, and selects, for each work area H, the correction information with the largest selected area within the work area H. In other words, when the work machine 1 enters or leaves the work area H, the selection unit 52d selects the correction information that corresponds to the work area H in which the work machine 1 is located.

[0106] For example, the selection unit 52d acquires data including position information of the vehicle body position VP from the request information received by the communication device 51, and acquires an area map including the work area H in which the work machine 1 is located. The work area H is defined in advance as a work region in which the work machine 1 performs a series of tasks and a travel area in which the work machine 1 performs automatic travel. The work area H is defined based on the vehicle body position VP detected by the position detection device 22, or based on any position information input by an input interface, and is stored in the storage device 53. Map information (area map) including the work area H is stored in the storage device 53.

[0107] The area map is a mesh-type map in which the one working area H is a predetermined area and divided (segmented) into a plurality of individual areas Qn (n=1, 2, 3, . . . n) of the same size. The selection unit 52d selects correction information based on a predetermined condition at the center position of each individual area Qn, and selects the correction information with the most selected individual areas Qn, i.e., the largest selected area, as the correction information corresponding to the working area H.

[0108] The selection unit 52d may select, for each working area H, correction information with a large selected area within the working area H, and the selection method is not limited to the above-mentioned method. For example, the selection unit 52d may define an area in which the first correction information is selected and an area in which the second correction information is selected, and select correction information with a large selected area as correction information corresponding to the working area H. In such a case, the selection unit 52d selects correction information based on a predetermined condition at a position selected intentionally or randomly, and defines a boundary line between the position in which the first correction information is selected and the position in which the second correction information is selected (for example, the center), to define the area in which the first correction information is selected and the area in which the second correction information is selected.

[0109] The selection conditions will be described in detail below. In this embodiment, the selector 52d selects the first correction information or the second correction information according to the positional relationship between the work machine 1 and a polygonal area E connecting the reference points RP of three or more base stations 40.

[0110] For example, when the work machine 1 is located inside area E, the selection unit 52d preferentially selects second correction information based on satellite signals received by three or more base stations 40 and reference points RP of three or more base stations 40 (first selection condition). At this time, when the work machine 1 is located outside area E, the selection unit 52d may preferentially select the first correction information acquired from the base station 40 closest to the work machine 1 over other correction information.

[0111] The selection unit 52d acquires data including the position information of the vehicle body position VP from the request information received by the communication device 51, and refers to the reference point RP and its position information of the multiple base stations 40 stored in the storage device 53. Based on the position information of the vehicle body position VP and the position information of the reference point RP, the selection unit 52d selects three or more base stations 40 that are close to the work machine 1 as base stations 40 for performing positioning by the VRS-GNSS method. Specifically, based on the position information of the vehicle body position VP and the position information of the reference point RP, the selection unit 52d selects three or more base stations 40 from the base station 40 that is closest to the work machine 1 in horizontal distance to the base station 40 that is furthest from the multiple base stations 40 located around the work machine 1.

[0112] In this embodiment, the selection unit 52d selects three base stations 40. As shown in Fig. 1, the selection unit 52d generates a polygonal area E connecting reference points RP of the three selected base stations 40, and determines whether or not the vehicle body position VP is located outside the area E. More specifically, when the vehicle body position VP is located on the outer line of the area E, the selection unit 52d determines that the work machine 1 is located inside the area E. Note that the selection unit 52d may determine that the work machine 1 is located outside the area E when the vehicle body position VP is located on the outer line of the area E.

[0113] Furthermore, when the distance D1 between each of the reference points RP of three or more base stations 40 is less than the first distance d1, the selection unit 52d may preferentially select the satellite signals received by the three or more base stations 40 and the second correction information based on the reference points RP of the three or more base stations 40 (second selection condition). At this time, when the distance D1 between each of the reference points RP of three or more base stations 40 is equal to or greater than the first distance d1, the selection unit 52d may preferentially select the first correction information acquired from the base station 40 closest to the work machine 1 over other correction information.

[0114] In this embodiment, the selection unit 52d calculates the distance D1 of each of the reference points RP of the base stations 40, i.e., the length of each side of the polygonal area E, based on the position information of the reference points RP of three or more base stations 40 selected as base stations 40 for performing positioning by the VRS-GNSS system. After calculating the length of each side, the selection unit 52d determines whether the length of each side is less than the first distance d1.

[0115] The first distance d1 is a value, for example, 50 km, that is stored in advance in the storage device 53. Note that the value of the first distance d1 is not limited to 50 km, and may be changed to any value via an input interface communicatively connected to the support device 50.

[0116] Furthermore, when the relative distance (baseline length) D2 between the work machine 1 and the reference point RP of the base station 40 closest to the work machine 1 among the reference points RP of the three or more base stations 40 is less than a predetermined second distance d2, the selection unit 52d may preferentially select the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1 (third selection condition). At this time, when the baseline length D2 is equal to or greater than the predetermined second distance d2, the selection unit 52d may preferentially select the satellite signals received by three or more base stations 40 and the second correction information based on the reference points RP of the three or more base stations 40.

[0117] The selection unit 52d calculates a baseline length D2 between the reference point RP of the base station 40 closest to the work machine 1 and the work machine 1, based on the position information of the vehicle position VP acquired from the request information received by the communication device 51 and the position information of the reference points RP of the three or more base stations 40 selected as base stations 40 for performing positioning by the VRS-GNSS system. After calculating the baseline length D2, the selection unit 52d determines whether the baseline length D2 is less than a second distance d2.

[0118] The second distance d2 is a value, for example, 10 km, that is stored in advance in the storage device 53. Note that the value of the second distance d2 is not limited to 10 km, and may be changed to any value via an input interface communicatively connected to the support device 50.

[0119] Explaining in more detail the selection of correction information based on the first to third selection conditions, when the work machine 1 is located inside area E and the distance D1 between each of the reference points RP of three or more base stations 40 is less than the first distance d1, the selection unit 52d preferentially selects the satellite signals received by the three or more base stations 40 and the second correction information based on the reference points RP of the three or more base stations 40.

[0120] In addition, when the work machine 1 is located inside area E, the distance D1 between each of the reference points RP of three or more base stations 40 is greater than or equal to a first distance d1, and the baseline length D2 among the reference points RP of the three or more base stations 40 is greater than or equal to a predetermined second distance d2, the selection unit 52d preferentially selects the satellite signals received by the three or more base stations 40 and the second correction information based on the reference points RP of the three or more base stations 40.

[0121] In addition, when the work machine 1 is located inside area E, the distance D1 between each of the reference points RP of three or more base stations 40 is greater than or equal to a first distance d1, and the baseline length D2 among the reference points RP of the three or more base stations 40 is less than a predetermined second distance d2, the selection unit 52d preferentially selects the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1.

[0122] In addition, when the work machine 1 is located outside the area E and the baseline length D2 is less than a predetermined second distance d2, the selection unit 52d preferentially selects the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1.

[0123] In addition, when the work machine 1 is located outside the area E, the baseline length D2 is less than a predetermined second distance d2, and the distance D1 between each of the reference points RP of three or more base stations 40 is less than the first distance d1, the selection unit 52d preferentially selects the satellite signals received by the three or more base stations 40 and the second correction information based on the reference points RP of the three or more base stations 40.

[0124] Then, when the work machine 1 is located outside the area E, the baseline length D2 is less than a predetermined second distance d2, and the distance D1 between each of the reference points RP of three or more base stations 40 is greater than or equal to the first distance d1, the selection unit 52d preferentially selects the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1.

[0125] In the above explanation, an example was given in which the selection unit 52d selects correction information based on the first to third selection conditions, but the selection unit 52d may select correction information based on one or more selection conditions, and the conditions are not limited to the above examples.

[0126] When the selection unit 52d selects the first correction information or the second correction information according to the work area H in which the work machine 1 is located, the selection unit 52d outputs an instruction signal to the generation unit 52g, causing the generation unit 52g to request information (e.g., observation information) necessary to generate the correction information from the management unit 52f. The instruction signal includes identification information of the base station 40 in order to identify the observation information, and the generation unit 52g outputs a signal based on the instruction signal (an instruction signal in this embodiment) to the management unit 52f, requesting the observation information from the management unit 52f.

[0127] Note that, once the position information of the working area H is defined, the selection unit 52d can select correction information based on the above-mentioned selection conditions, and therefore, for example, when an area map is defined, the selection unit 52d selects correction information for each working area H based on the selection conditions. Furthermore, when an abnormality occurs in any of the selected base stations 40, the selection unit 52d may again select correction information for each working area H based on the selection conditions.

[0128] The definition unit 52e is software that defines the first distance d1 and / or the second distance d2 according to the work content of the work implement 1. The definition unit 52e defines the first distance d1 and the second distance d2 according to the work content of the work implement 2 included in the request information received by the communication device 51. The definition unit 52e shortens the first distance d1 and the second distance d2 when the work content requires a relatively high position detection accuracy, i.e., when it is necessary to increase the detection accuracy of the vehicle body position VP. On the other hand, the definition unit 52e lengthens the first distance d1 and the second distance d2 when the work content does not require a relatively high position detection accuracy, i.e., when it is acceptable to prioritize work efficiency without increasing the detection accuracy of the vehicle body position VP.

[0129] The definition unit 52e defines the first distance d1 and the second distance d2 by multiplying a reference distance (first reference distance) for calculating the first distance d1 and a reference distance (second reference distance) for calculating the second distance d2, which are stored in advance in the storage device 53, by a predetermined correction value, respectively. A correction table indicating the relationship between the work content and the correction value by which each of the first and second reference distances is multiplied is stored in the storage device 53. For example, a relatively high position detection accuracy is required in the following order: sowing work performed by a sowing device, harvesting work performed by a harvesting device, tilling work performed by a tilling device, plowing work performed by a tilling device, and spraying work performed by a spraying device.

[0130] For example, in this embodiment, the correction value for sowing work is defined as 0.8, the correction value for harvesting work as 0.9, the correction value for tilling work as 1.0, the correction value for plowing work as 1.1, and the correction value for spraying work as 1.2.

[0131] The correction values ​​corresponding to the above-mentioned work contents are merely examples and are not limited thereto, and the first reference distance and the second reference distance may be changed to any numerical value. For example, the correction values ​​may be changed to any numerical value via an input interface communicably connected to the support device 50.

[0132] In addition, the definition unit 52e may shorten the first distance d1 and the second distance d2 when the work requires a relatively high position detection accuracy, and may lengthen the first distance d1 and the second distance d2 when the work does not require a relatively high position detection accuracy, and the method of defining the first distance d1 and the second distance d2 is not limited to the above-mentioned method. For example, the definition unit 52e may add or subtract a predetermined correction value to the first reference distance and the second reference distance to define the first distance d1 and the second distance d2.

[0133] The management unit 52f is software that manages the satellite signal acquired by the signal acquisition unit 52b. The management unit 52f outputs the satellite signal to the selection unit 52c and the generation unit 52g. Based on the selection table stored in the storage device 53 and the instruction signal output from the generation unit 52g, the management unit 52f outputs to the generation unit 52g observation information received from the positioning satellite G selected by the selection unit 52c (the positioning satellite G to which the first selection flag is assigned among the multiple positioning satellites G possessed by the satellite positioning system s2 to which the second selection flag is assigned) by the base station 40 corresponding to the first correction information or the second correction information selected by the selection unit 52d. Based on the identification information of the selected positioning satellite G and the identification information of the base station 40 included in the instruction signal, the management unit 52f extracts the satellite signal received from the positioning satellite G selected by the selection unit 52c from the satellite signal acquired by the signal acquisition unit 52b. The management unit 52f outputs the extracted satellite signals to the generation unit 52g, and does not output satellite signals that have not been selected by the selection unit 52c to the generation unit 52g.

[0134] The generating unit 52g is software that generates correction information (first correction information and second correction information) based on the satellite signals acquired by the signal acquiring unit 52b. In this embodiment, the generating unit 52g generates the correction information based on the satellite signals from the positioning satellite G selected by the selecting unit 52c among the satellite signals acquired by the signal acquiring unit 52b, and the reference point RP of the base station 40 that received the satellite signals.

[0135] The generating unit 52g requests the management unit 52f for observation information (satellite signals) based on the instruction signal output from the selecting unit 52d. When the generating unit 52g acquires the instruction signal and the observation information based on the selection table from the management unit 52f, it generates correction information based on the satellite signals and the like included in the observation information.

[0136] Specifically, the generation unit 52g generates first correction information based on the satellite signal acquired by the signal acquisition unit 52b and the reference point RP of the base station 40 that received the satellite signal. The generation unit 52g also generates second correction information including a virtual reference point VRP based on the satellite signal received by three or more predetermined base stations 40 out of the multiple base stations 40 and the reference points RP of the three or more base stations 40. The generation unit 52g outputs the generated correction information to the transmission control unit 52h.

[0137] The transmission control unit 52h is software that controls the communication device 51 to transmit information from the communication device 51 to the outside. For example, the transmission control unit 52h controls the communication device 51 to transmit the correction information generated by the generation unit 52g. Specifically, the transmission control unit 52h controls the time interval for transmitting the correction information. For example, the transmission control unit 52h outputs the correction information acquired from the generation unit 52g to the communication device 51 at a predetermined time interval. The communication device 51 acquires the correction information output by the transmission control unit 52h and transmits the correction information.

[0138] As a result, the communication device 51 (server 50) transmits the satellite signal from the positioning satellite G selected by the selection unit 52c and correction information based on the reference point RP of the base station 40 that received the satellite signal to the vehicle body communication device 21. In addition, the vehicle body communication device 21 outputs the received correction information to the position detection device 22.

[0139] Specifically, when the vehicle body communication device 21 receives first correction information from the communication device 51, the position detection device 22 performs positioning by the RRS-GNSS method based on the satellite signal received by the antenna 22a and the first correction information output from the vehicle body communication device 21. On the other hand, when the vehicle body communication device 21 receives second correction information from the communication device 51, the position detection device 22 performs positioning by the VRS-GNSS method based on the satellite signal received by the antenna 22a and the second correction information output from the vehicle body communication device 21.

[0140] The state management unit 52i is software that manages information (state information) related to position detection based on correction information. The state management unit 52i manages, as state information, information (state information) related to positioning that indicates, for example, the accuracy of position detection based on correction information selected by the selection unit 52d (position detection accuracy), the number of positioning satellites G from which the position detection device 22 receives satellite signals, the operation status of the support device 50, the horizontal dilution of precision (HDOP), the presence or absence of multipath, the presence or absence of jamming waves, the baseline length D2, the age of data, the state of the support device 50, and the state of the positioning satellites G.

[0141] Specifically, the state management unit 52i acquires state information itself calculated by the control device 23, etc. from the position detection device 22, the control device 23, the body storage device 24, etc., via the body communication device 21 and the terminal communication device 34, and acquires information necessary for calculating the state information to calculate the state information. The state management unit 52i also acquires operating conditions, etc. from the hardware and software of the assistance device 50, and acquires information necessary for calculating the state information from other software of the calculation device 52 and the storage device 53 to calculate the state information.

[0142] The status management unit 52i may be able to manage a plurality of types of position detection accuracies calculated by different calculation methods as the position detection accuracies for position detection based on each correction information. In this embodiment, the status management unit 52i manages the first to third detection accuracies. The status detection device associates the position detection accuracies with the correction information corresponding to the position detection accuracies (first to third detection accuracies) and the working area H for which the correction information was selected, stores the position detection accuracies in the storage device 53, and manages these position detection accuracies.

[0143] The first detection accuracy is a position deviation between the position information of the reference point RP calculated by precise point positioning (PPP) of the reference point RP and the actual position information of the reference point RP. In this case, the smaller the first detection accuracy (position deviations PD1, PD2), the higher the position detection accuracy in positioning using the correction information, and the larger the position deviations PD1, PD2, the lower the position detection accuracy in positioning using the correction information.

[0144] Specifically, when the generating unit 52g requests the management unit 52f for observation information (satellite signal), the management unit 52f outputs the satellite signal received from the positioning satellite G selected by the selection unit 52c by the base station 40 corresponding to the correction information to the generating unit 52g and the state management unit 52i. When the state management unit 52i acquires the satellite signal from the management unit 52f, it performs precise point positioning of the reference point RP. That is, the first detection accuracy is a position detection accuracy that is not the actual accuracy information including disturbance when the position detection device 22 of the work machine 1 actually detects the vehicle body position VP. In addition, the state management unit 52i acquires from the selection unit 52d a selection result (e.g., an instruction signal) in which the selection unit 52d selects the correction information, and judges whether the selected correction information is the first correction information or the second correction information.

[0145] When the correction information is the first correction information and the status management unit 52i determines the position detection accuracy when performing position detection based on the first correction information (positioning using the RRS-GNSS method), the status management unit 52i performs precise individual positioning at the base station 40 (reference point RP) based on the satellite signal obtained from the management unit 52f.

[0146] Furthermore, the state management unit 52i acquires, as the position information of the reference point RP for performing precise point positioning, the position information of the reference point RP of the base station 40 from the storage device 53. As a result, the state management unit 52i calculates a position deviation PD1 between the position information of the reference point RP calculated by precise point positioning (position information of the position CP1 in FIG. 1) and the position information of the reference point RP acquired from the storage device 53 (position information of the absolute position).

[0147] On the other hand, when the correction information is the second correction information and the state management unit 52i determines the position detection accuracy when performing position detection based on the second correction information (positioning by the VRS-GNSS method), the state management unit 52i acquires the position information of the body position VP from the request information received by the communication device 51, and defines the virtual reference point VRP around the body position VP. In addition, the state management unit 52i acquires the second correction information generated by the generation unit 52g from the generation unit 52g, and performs precise point positioning at the virtual reference point VRP based on the second correction information and the satellite signal acquired from the management unit 52f. As a result, the state management unit 52i calculates a position deviation PD2 between the position information of the virtual reference point VRP around the defined body position VP and the position information of the virtual reference point VRP calculated by the precise point positioning (position information of the position CP2 in FIG. 1).

[0148] The second detection accuracy is an accuracy based on the selection result of the correction information by the selection unit 52d. That is, the second detection accuracy is a position detection accuracy that is not the actual accuracy information including disturbance when the position detection device 22 of the work machine 1 actually detects the vehicle body position VP. Specifically, for example, when the work machine 1 is located inside the area E, the distance D1 of each of the reference points RP of three or more base stations 40 is equal to or greater than the first distance d1, and the base line length D2 of the reference points RP of the three or more base stations 40 is equal to or greater than the predetermined second distance d2, and the selection unit 52d selects the second correction information, the state management unit 52i determines that the position detection accuracy corresponding to the second correction information selected by the selection unit 52d is relatively low based on the selection result.

[0149] In addition, when the work machine 1 is located outside the area E, and among the reference points RP of three or more base stations 40, the baseline length D2 is greater than or equal to a predetermined second distance d2, and the selection unit 52d selects the first correction information or the second correction information, the status management unit 52i determines, based on the selection result, that the position detection accuracy corresponding to the correction information selected by the selection unit 52d is relatively low.

[0150] In more detail, the selection unit 52d assigns an accuracy degradation flag to the instruction signal in the above-mentioned two cases. The state management unit 52i acquires a selection result (e.g., an instruction signal) in which the selection unit 52d has selected the correction information from the selection unit 52d, and determines whether or not the position detection accuracy corresponding to the correction information selected by the selection unit 52d is relatively low based on the instruction signal.

[0151] The third detection accuracy is a fix rate of a satellite signal received by the position detection device 22 from a positioning satellite G. In other words, the third detection accuracy is actual accuracy information including disturbances and the like when the position detection device 22 of the work machine 1 actually detects the vehicle body position VP. The state management unit 52i acquires the fix rate from the position detection device 22 via the vehicle body communication device 21 and the terminal communication device 34, and manages the fix rate as the third detection accuracy.

[0152] The position detection accuracy managed by the state management unit 52i is not limited to the first to third detection accuracies, and may be any one or more of these, or may be a position detection accuracy calculated by another calculation method. For example, the state management unit 52i may manage, as the position detection accuracy, the number of positioning satellites G from which the position detection device 22 receives satellite signals, the signal strength (e.g., SNR) of the satellite signals received by the position detection device 22 from the positioning satellites G, the horizontal dilution of precision (HDOP), and the age of data, etc.

[0153] Furthermore, the state management unit 52i may determine whether the managed position detection accuracy is relatively high or relatively low, and manage the determination result as positioning information. In the following description, the software in the state management unit 52i that determines the position detection accuracy is referred to as a determination unit 52i1. The determination unit 52i1 determines the position detection accuracy based on the first to third detection accuracies. For example, when the determination unit 52i1 determines that at least one of the first to third detection accuracies is low, the determination unit 52i1 determines that the position detection accuracy is relatively low.

[0154] For example, when the position deviations PD1, PD2 of the first detection accuracy are equal to or greater than a predetermined first reference value, the determination unit 52i1 determines that the position detection accuracy is relatively low. On the other hand, when the position deviations PD, PD2 of the first detection accuracy are less than the predetermined first reference value, the determination unit 52i1 determines that the position detection accuracy is relatively high.

[0155] Moreover, for example, when the Fix rate of the third detection accuracy is less than the second reference value, the determination unit 52i1 determines that the position detection accuracy is relatively low. On the other hand, when the Fix rate of the third detection accuracy is equal to or greater than the second reference value, the determination unit 52i1 determines that the position detection accuracy is relatively high.

[0156] The above-mentioned state information calculated by the state management unit 52i is merely an example, and other state information may be calculated and notified by the alarm device 30. For example, when a multipath, an interference wave, or the like occurs, the state management unit 52i may generate, as state information, instruction information indicating an instruction to suppress the occurrence of the multipath, the interference wave, or the like.

[0157] Furthermore, the state management unit 52i may calculate information indicating a positioning satellite G that was not selected by the selection unit and / or the satellite positioning system s2 that has the positioning satellite G, as state information.

[0158] 4, the support system s1 of the work machine 1 may include a notification device that notifies the worker of information, and notifies the worker of status information managed by the status management unit 52i. The notification device is, for example, a mobile terminal 30 such as a smartphone carried by the worker. In this embodiment, the notification device (mobile terminal) 30 displays a predetermined status display screen showing the status information on the terminal display screen 31 based on the display information transmitted from the support device 50, and notifies the worker of the information.

[0159] The notification device 30 may be any device capable of notifying the worker of the status information, and is not limited to the mobile terminal 30. For example, the notification device 30 may be a lamp that notifies the worker of the status information by light, or a speaker that notifies the worker of the status information by sound, or existing technology may be applied.

[0160] Specifically, when the state management unit 52i acquires or calculates the state information, it outputs notification information based on the state information to the transmission control unit 52h. The notification information is information based on the state information, and is shaped (converted) into data that is easy to process by the mobile terminal 30. When the notification information is output from the state management unit 52i, the transmission control unit 52h controls the communication device 51 to transmit the notification information from the communication device 51 to the terminal communication device 34.

[0161] In this embodiment, the transmission control unit 52h causes the communication device 51 to transmit notification information together with the correction information to the terminal communication device 34. The notification information includes, for example, image information for the notification device 30 to display status information. When the terminal communication device 34 receives the notification information, the terminal computing device 32 causes the terminal display screen 31 to display a status display screen based on the notification information.

[0162] In addition, when the terminal computing device 32 can display a status display screen on the terminal display screen 31 using a program, image information, etc. stored in the terminal memory device 33, the status information does not need to include image information.

[0163] The status display screen displays, in a list, each piece of status information included in the status information. In this embodiment, the status display screen displays, in a list, the number of positioning satellites G from which the position detection device 22 is receiving satellite signals, the operation status of the support device 50, the horizontal dilution of precision (HDOP), the presence or absence of multipath, the presence or absence of jamming waves, the baseline length D2, the age of the data, the status of the support device 50, the status of the positioning satellites G, and the position detection accuracy. The status display screen may also display instruction information generated by the status management unit 52i. For example, the status display screen displays a comment such as "The surrounding environment is abnormal. Move to an open area and reset the GNSS receiver" as instruction information.

[0164] The information that can be displayed on the status display screen is not limited to the above-mentioned information. In addition, when the operator operates a transition button displayed on the status display screen, the terminal computing device 32 may display a satellite display screen M1 on the terminal display screen 31. As shown in Fig. 5, the satellite display screen M1 has an arrangement display section 105 that shows the arrangement of the positioning satellites G, and a list display section 106 that shows the positioning satellites G that have not been selected by the selection section 52c and / or the satellite positioning systems s2 that have the positioning satellites G. In the example shown in Fig. 5, the list display section 106 shows a case where BeiDou is displayed as the unselected satellite positioning system s2.

[0165] In the above-described embodiment, the selection unit 52d selects correction information for each work area H according to the positional relationship between the polygonal area E and the work machine 1. However, when a predetermined condition is satisfied, the selection unit 52d may select correction information other than the selected correction information. For example, when the position detection accuracy, which is the accuracy of position detection based on the selected correction information, is less than a predetermined height, the selection unit 52d selects correction information whose position detection accuracy is equal to or greater than the predetermined height and which is used by another work machine 1A in the vicinity of the work machine 1, instead of the selected correction information. In the present embodiment, the selection unit 52d may temporarily select another correction information when the position detection accuracy corresponding to the correction information previously selected is less than the predetermined height.

[0166] Specifically, the selection unit 52d acquires the position detection accuracy, which is state information, from the state management unit 52i. The selection unit 52d acquires actual accuracy information, such as the third detection accuracy, that includes disturbances and the like when the position detection device 22 of the work machine 1 actually detects the vehicle body position VP. In this embodiment, the selection unit 52d acquires the third detection accuracy from the state management unit 52i as the position detection accuracy.

[0167] When the third detection accuracy acquired from the status management unit 52i is less than the second reference value, the selection unit 52d acquires, instead of the correction information selected for each work area H, correction information to be transmitted to other work machines 1 located within a predetermined distance (for example, 1 km) from the work machine 1 in question, and the third detection accuracy transmitted from the vehicle body communication device 21 of the other work machine 1 and corresponding to the correction information. When the correction information transmitted to the work machine 1 and the correction information transmitted to the other work machines 1 are correction information of different types and the third detection accuracy corresponding to the correction information is equal to or greater than the second reference value, the selection unit 52d selects the correction information transmitted to the other work machines 1.

[0168] That is, in the case where first correction information is being transmitted to a predetermined work machine 1, when the third detection accuracy corresponding to the first correction information is less than the second reference value, the selection unit 52d acquires the correction information to be transmitted to another work machine 1 within a range of 1 km from the work machine 1, and the third detection accuracy corresponding to the correction information. When the correction information transmitted to the other work machine 1 is the second correction information and the third detection accuracy corresponding to the second correction information is equal to or greater than the second reference value, the selection unit 52d selects the first correction information.

[0169] In the above example, the predetermined distance is defined as 1 km, but it may be changed to any desired value via an input interface communicatively connected to the support device 50.

[0170] Furthermore, in the above-described embodiment, the selection unit 52d selects correction information used in another work machine 1A in place of the correction information selected according to the positional relationship between the polygonal area E and the work machine 1 when the position detection accuracy, which is the accuracy of position detection based on the selected correction information, is less than a predetermined height. However, correction information other than the selected correction information may be selected based on other conditions. For example, the selection unit 52d may temporarily select another correction information in place of the selected correction information in case the position detection accuracy, which is the accuracy of position detection based on the selected correction information, is less than a predetermined height. Furthermore, the selection unit 52d may temporarily select correction information that is not based on a satellite signal received by the base station 40 that is not in operation when the selected base station 40 is not in operation. In such a case, when the base station 40 does not respond even after a predetermined time (for example, 5 minutes) has elapsed, the selection unit 52d determines that the base station 40 is not in operation. Furthermore, the selection unit 52d may be configured to be able to select any correction information by operating an input interface.

[0171] Furthermore, the selection unit 52d may store in the storage device 53, in association with the work area H, the selection of correction information different from the correction information selected in accordance with the positional relationship between the polygonal area E and the work machine 1, the different correction information, and performance information including the position detection accuracy when position detection is performed based on this correction information. In this case, when there is a performance record of selecting a plurality of different correction information in the work area H, the selection unit 52d selects correction information with high position detection accuracy based on the position detection accuracy of each correction information.

[0172] Specifically, the selection unit 52d acquires the position detection accuracy, which is the status information, from the status management unit 52i, and the position detection accuracy included in the performance information corresponding to the work area H in which the work machine 1 is located, from the storage device 53. The selection unit 52d acquires one or more position detection accuracies as the position detection accuracy.

[0173] In the present embodiment, the selection unit 52d acquires the third detection accuracy from the status management unit 52i as the position detection accuracy, and acquires the third detection accuracy included in the performance information corresponding to the work area H in which the work machine 1 is located from the storage device 53. The selection unit 52d compares the third detection accuracy acquired from the status management unit 52i with the third detection accuracy included in the performance information, and if the third detection accuracy acquired from the status management unit 52i is higher than the third detection accuracy included in the performance information, selects the correction information selected for each work area H and does not select other correction information.

[0174] On the other hand, the selection unit 52d compares the third detection accuracy acquired from the status management unit 52i with the third detection accuracy included in the performance information, and if the third detection accuracy acquired from the status management unit 52i is higher than the third detection accuracy included in the performance information, selects the correction information corresponding to the performance information instead of the correction information selected for each working area H.

[0175] 6A to 6C are diagrams illustrating a process flow in which the support device 50 generates correction information and the work machine 1 detects the vehicle body position VP based on the correction information in the support system s1 of the work machine 1. Hereinafter, the process flow in the support system s1 of the work machine 1 will be described with reference to FIGS. 6A to 6C.

[0176] First, the selection unit 52c judges whether or not the positioning satellites G of each satellite positioning system s2 satisfy the first and second normal conditions (S1). The selection unit 52c assigns a first selection flag to the identification information of the positioning satellite G that is judged to satisfy the first and second normal conditions in the first management table (S2).

[0177] When the selection unit 52c determines the normal conditions of all positioning satellites G (e.g., positioning satellites that can receive radio waves, visible satellites) (S3, Yes), it determines for each satellite positioning system s2 whether the number of positioning satellites G to which the first selection flag has not been assigned is equal to or greater than a reference number (S4). If the selection unit 52c determines that the number of positioning satellites G to which the first selection flag has not been assigned is not equal to or greater than the reference number (S4, No), it assigns a second selection flag to the identification information of the satellite positioning system s2 to which the number of positioning satellites G to which the first selection flag has not been assigned is equal to or greater than the reference number in the second management table (S5).

[0178] When the selection unit 52c determines that all of the satellite positioning systems s2 have been referenced (S6, Yes), the selection unit 52c creates (or updates) a selection table based on the first management table and the second management table (S7).

[0179] Next, the selection unit 52d determines whether or not the work machine 1 is located inside the area E based on the polygonal area E and the vehicle body position VP (S8). If the selection unit 52d determines that the work machine 1 is located inside the area E (S8, Yes), it determines whether or not the distance D1 between each of the reference points RP of the three base stations 40 is less than the first distance d1 (S9).

[0180] When the selection unit 52d determines that the distance D1 between each of the reference points RP of the three base stations 40 is less than the first distance d1 (S9, Yes), it selects the satellite signals received by the three base stations 40 and the second correction information based on the reference points RP of the three base stations 40 (S10).

[0181] On the other hand, when the selection unit 52d determines that the distance D1 between each of the reference points RP of the three base stations 40 is greater than or equal to the first distance d1 (S9, No), it determines whether the baseline length D2 between the reference point RP of the base station 40 closest to the work machine 1 and the work machine 1 is less than the second distance d2 (S11).

[0182] When the selection unit 52d determines that the baseline length D2 is less than the second distance d2 (S11, Yes), it selects first correction information based on the satellite signal received by the base station 40 closest to the work machine 1 (S12). When the selection unit 52d determines that the baseline length D2 is equal to or greater than the predetermined second distance d2 (S11, No), it selects second correction information based on the satellite signals received by the three base stations 40 and the reference points RP of the three base stations 40 (S13). At this time, the selection unit 52d assigns an accuracy degradation flag to the instruction signal.

[0183] Furthermore, when the selection unit 52d determines that the work machine 1 is located outside the area E (S8, No), it determines whether the baseline length D2 between the reference point RP of the base station 40 closest to the work machine 1 and the work machine 1 is less than the second distance d2 (S14). When the selection unit 52d determines that the baseline length D2 is less than the second distance d2 (S14, Yes), it selects the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1 (S15).

[0184] On the other hand, if the selection unit 52d determines that the baseline length D2 is equal to or greater than the predetermined second distance d2 (S14, No), it determines whether or not the distance D1 between the reference points RP of the three base stations 40 is less than the first distance d1 (S16). If the selection unit 52d determines that the distance D1 between the reference points RP of the three base stations 40 is less than the first distance d1 (S16, Yes), it selects the satellite signals received by the three base stations 40 and second correction information based on the reference points RP of the three base stations 40 (S17). At this time, the selection unit 52d assigns an accuracy degradation flag to the instruction signal.

[0185] Furthermore, when the selection unit 52d determines that the distance D1 between each of the reference points RP of the three base stations 40 is equal to or greater than the first distance d1 (S16, No), it selects the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1 (S18). At this time, the selection unit 52d assigns an accuracy degradation flag to the instruction signal.

[0186] When the selection unit 52d selects the correction information (S10, S12, S13, S15, S17, S18), it outputs an instruction signal to the generation unit 52g (S19). The generation unit 52g requests observation information (satellite signals) from the management unit 52f based on the instruction signal output from the selection unit 52d (S20).

[0187] Based on the selection table stored in the memory device 53 and the instruction signal output from the generation unit 52g, the management unit 52f outputs to the generation unit 52g the observation information received from the positioning satellite G selected by the selection unit 52c by the base station 40 corresponding to the first correction information or the second correction information selected by the selection unit 52d (S21).

[0188] When the observation information is output to the generation unit 52g (S21), the generation unit 52g acquires the observation information (S22) and generates correction information based on the satellite signals and the like included in the observation information (S23). The generation unit 52g outputs the generated correction information to the transmission control unit 52h (S24).

[0189] When the transmission control unit 52h acquires the correction information from the generation unit 52g (S25), the transmission control unit 52h controls the communication device 51 to transmit the correction information from the communication device 51 to the vehicle body communication device 21 (S26).

[0190] When the vehicle body communication device 21 receives the correction information, the position detection device 22 acquires the correction information (S27) and locates the vehicle body position VP using the RTK method based on the satellite signal received by the antenna 22a and the correction information received by the vehicle body communication device 21 (S28).

[0191] As described above, when the selection unit 52d determines in S8 that the work machine 1 is located inside the area E (S8, Yes), the selection unit 52d has more options for selecting the second correction information based on the satellite signals received by the three base stations 40 and the reference points RP of the three base stations 40 (S10, S13) than when the selection unit 52d determines that the work machine 1 is located outside the area E (S8, No). Also, when the selection unit 52d determines in S8 that the work machine 1 is located inside the area E (S8, Yes) and determines in S9 that the distance D1 between each of the reference points RP of the three base stations 40 is less than the first distance d1 (S9, Yes), the selection unit 52d selects the second correction information (S10) without determining other conditions. Therefore, when the work machine 1 is located inside area E (S8, Yes), and when it is determined that the distance D1 between each of the reference points RP of the three base stations 40 is less than the first distance d1 (S9, Yes), it can be said that the selection unit 52d preferentially selects the second correction information.

[0192] On the other hand, when the selection unit 52d determines in S8 that the work machine 1 is located outside the area E (S8, No) and when the selection unit 52d determines that the work machine 1 is located inside the area E (S8, Yes), the selection unit 52d has more options for selecting the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1 (S15, S18). Also, when the selection unit 52d determines in S8 that the work machine 1 is located outside the area E (S8, No) and determines in S14 that the length of the base line length D2 between the reference point RP of the base station 40 closest to the work machine 1 and the work machine 1 is less than the second distance d2 (S14, Yes), the selection unit 52d selects the first correction information without making any other condition determination (S15). Therefore, when the selection unit 52d determines that the work machine 1 is located outside the area E (S8, No) and that the length of the base line length D2 is less than the second distance d2 (S14, Yes), it can be said that the selection unit 52d preferentially selects the first correction information.

[0193] In the following description, the process (S1 to S8) in which the selection unit 52c selects one or more positioning satellites G may be referred to as a first step, the process (S23) in which the generation unit 52g creates correction information may be referred to as a second step, and the process (S28) in which the position detection device 22 detects the position of the work machine 1 based on the correction information may be referred to as a third step. Also, the process (S9 to S18) in which the selection unit 52d selects correction information may be referred to as the first step.

[0194] 6A to 6C are merely examples, and other processing flows may be used. Fig. 7 is a diagram for explaining a processing flow in which the support device 50 generates correction information in the support system s1 of the work machine 1, and the work machine 1 detects the vehicle body position VP based on the correction information. In the example shown in Fig. 7, the selector 52d preferentially selects the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1.

[0195] As is clear from Figures 6A to 6C and 7, Figure 7 differs in that the processes of S8 to S18 in Figure 6B are replaced by S31 to S39. Hereinafter, the flow of the processes of S31 to S39 in the support system s1 of the work machine 1 in the first modified example will be described with reference to Figure 7.

[0196] When the process of S17 is completed, the selection unit 52d judges whether or not the length of the baseline length D2 between the reference point RP of the base station 40 closest to the work machine 1 and the work machine 1 is less than the second distance d2 (S31). When the selection unit 52d judges that the baseline length D2 is less than the second distance d2 (S31, Yes), it selects the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1 (S32). When the selection unit 52d judges that the baseline length D2 is equal to or greater than the predetermined second distance d2 (S31, No), it judges whether or not the work machine 1 is located inside the area E based on the polygonal area E and the vehicle body position VP (S33).

[0197] When the selection unit 52d determines that the work machine 1 is located inside the area E (S33, Yes), it determines whether or not the distance D1 between each of the reference points RP of the three base stations 40 is less than the first distance d1 (S34). When the selection unit 52d determines that the distance D1 between each of the reference points RP of the three base stations 40 is less than the first distance d1 (S34, Yes), it selects second correction information based on the satellite signals received by the three base stations 40 and the reference points RP of the three base stations 40 (S35).

[0198] Furthermore, even if the selector 52d determines that the distances D1 between the reference points RP of the three base stations 40 are equal to or greater than the first distance d1 (S34, No), it still selects the satellite signals received by the three base stations 40 and the second correction information based on the reference points RP of the three base stations 40 (S36). At this time, the selector 52d assigns an accuracy degradation flag to the instruction signal.

[0199] On the other hand, when the selection unit 52d determines that the work machine 1 is located outside the area E (S33, No), it determines whether or not the distance D1 between each of the reference points RP of the three base stations 40 is less than the first distance d1 (S37). When the selection unit 52d determines that the distance D1 between each of the reference points RP of the three base stations 40 is less than the first distance d1 (S37, Yes), it selects the satellite signals received by the three base stations 40 and second correction information based on the reference points RP of the three base stations 40 (S38). At this time, the selection unit 52d assigns an accuracy degradation flag to the instruction signal.

[0200] Furthermore, when the selection unit 52d determines that the distance D1 between each of the reference points RP of the three base stations 40 is equal to or greater than the first distance d1 (S37, No), it selects the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1 (S39). At this time, the selection unit 52d assigns an accuracy degradation flag to the instruction signal.

[0201] When the selection unit 52d selects the correction information (S32, S35, S36, S38, S39), the process proceeds to S19.

[0202] From the above, when the selection unit 52d determines in S31 that the baseline length D2 is less than the second distance d2 (S31, Yes), the selection unit 52d selects the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1 without determining other conditions (S32). In other words, the selection unit 52d preferentially selects the first correction information without determining the condition for preferentially selecting the second correction information. For this reason, it can be said that the selection unit 52d preferentially selects the first correction information when both the first correction information and the second correction information can be selected.

[0203] In addition, when the selection unit 52d determines in S33 that the work machine 1 is located inside the area E (S33, Yes), the selection unit 52d has more options for selecting the second correction information based on the satellite signals received by the three base stations 40 and the reference points RP of the three base stations 40 (S35, S36) than when the selection unit 52d determines that the work machine 1 is located outside the area E (S33, No). In addition, when the selection unit 52d determines in S33 that the work machine 1 is located inside the area E (S33, Yes), the selection unit 52d selects the second correction information regardless of the subsequent determination in S34 (S35, S36). Therefore, when the work machine 1 is located inside the area E (S33, Yes), the selection unit 52d can be said to preferentially select the second correction information.

[0204] On the other hand, when the selection unit 52d determines in S31 that the length of the baseline length D2 between the reference point RP of the base station 40 closest to the work machine 1 and the work machine 1 is less than the second distance d2 (S31, Yes), the selection unit 52d selects the first correction information without making any other condition determination (S32). Therefore, when the selection unit 52d determines that the length of the baseline length D2 is less than the second distance d2 (S31, Yes), it can be said that the selection unit 52d preferentially selects the first correction information. Also, when the selection unit 52d determines in S33 that the work machine 1 is located outside the area E (S33, No) and when the selection unit 52d determines that the work machine 1 is located inside the area E (S33, Yes), the selection unit 52d has more options for selecting the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1 (S39). Therefore, when the selection unit 52d determines that the work machine 1 is located outside the area E, it can be said that the selection unit 52d preferentially selects the first correction information.

[0205] Also, the series of processing flows of the selection unit 52d shown in Figures 6A to 6C and 7 may be omitted. Specifically, in the second modified example shown in Figure 8, instead of the processing of S8 to S18 in Figure 6B and the processing of S31 to S39 in Figure 7, processing of S41 to S45 is adopted. In Figure 8, as in Figure 7, the selection unit 52d preferentially selects the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1. Hereinafter, the processing flow of S41 to S45 in the support system s1 for the work machine 1 in the second modified example will be described with reference to Figure 8.

[0206] 8, when the process of S17 is completed, the selection unit 52d determines whether the baseline length D2 between the reference point RP of the base station 40 closest to the work machine 1 and the work machine 1 is less than the second distance d2 (S41). When the selection unit 52d determines that the baseline length D2 is less than the second distance d2 (S41, Yes), it selects the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1 (S42).

[0207] Furthermore, when the selection unit 52d determines that the baseline length D2 is equal to or greater than the predetermined second distance d2 (S41, No), it determines whether the work machine 1 is located within a target area of ​​the VRS-GNSS system (S43). Position information of the target area is pre-stored in the storage device 53, and the selection unit 52d determines whether the work machine 1 is located within a target area of ​​the VRS-GNSS system based on the position information of the vehicle body position VP acquired from the request information received by the communication device 51 and the position information of the target area.

[0208] The target area is an area in which it is predefined whether positioning by the VRS-GNSS method is possible, and the target area is an area where a relatively large number of base stations 40 are installed, an area where an agricultural machinery manufacturer, an agricultural cooperative, a management company, etc. provides the service of the support system s1 for the work machine 1, etc. In other words, outside the target area is, for example, an area where a relatively small number of base stations 40 are installed, an area where an agricultural machinery manufacturer, an agricultural cooperative, a management company, etc. does not provide the service of the support system s1 for the work machine 1, etc., and examples of this include remote islands, overseas, and the outer edge of the country.

[0209] When the selection unit 52d determines that the work machine 1 is located within the target area (S43, Yes), it selects second correction information based on the satellite signals received by the three base stations 40 and the reference points RP of the three base stations 40 (S44). On the other hand, when the selection unit 52d determines that the work machine 1 is located within the target area (S43, No), it selects first correction information based on the satellite signals received by the base station 40 closest to the work machine 1 (S45). At this time, the selection unit 52d assigns an accuracy degradation flag to the instruction signal.

[0210] From the above, when the selection unit 52d determines in S41 that the baseline length D2 is less than the second distance d2 (S41, Yes), the selection unit 52d selects the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1 without determining other conditions (S42). In other words, the selection unit 52d preferentially selects the first correction information without determining the conditions for preferentially selecting the second correction information. For this reason, it can be said that the selection unit 52d preferentially selects the first correction information when both the first correction information and the second correction information can be selected.

[0211] Furthermore, the series of processing steps of the selection unit 52d described in the second modified example shown in Fig. 8 may be omitted. Specifically, in the third modified example shown in Fig. 9, the processing steps of S51 to S53 are adopted instead of the processing steps of S41 to S45 in Fig. 8. In the example shown in Fig. 9, similarly to the examples shown in Figs. 7 and 8, the selection unit 52d preferentially selects the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1. Hereinafter, the processing steps of S51 to S53 in the support system s1 for the work machine 1 in the third modified example will be described with reference to Fig. 9.

[0212] In the third modified example shown in FIG. 9, when the process of S17 is completed, the selection unit 52d judges whether or not the length of the baseline length D2 between the reference point RP of the base station 40 closest to the work machine 1 and the work machine 1 is less than the second distance d2 (S51). When the selection unit 52d judges that the baseline length D2 is less than the second distance d2 (S51, Yes), it selects the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1 (S52). On the other hand, when the selection unit 52d judges that the baseline length D2 is equal to or greater than the second distance d2 (S51, No), it selects the satellite signals received by the three base stations 40 and the second correction information based on the reference points RP of the three base stations 40 (S53).

[0213] From the above, when the selection unit 52d determines in S51 that the baseline length D2 is less than the second distance d2 (S51, Yes), the selection unit 52d selects the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1 without determining other conditions (S52). In other words, the selection unit 52d preferentially selects the first correction information without determining the conditions for preferentially selecting the second correction information. For this reason, it can be said that the selection unit 52d preferentially selects the first correction information when both the first correction information and the second correction information can be selected.

[0214] In the above embodiment, the calculation device 52 of the support device 50 has the selection unit 52c, the selection unit 52d, and the generation unit 52g, but the selection unit may be provided in another calculation processing device as long as it selects one or more positioning satellites G from among a plurality of positioning satellites G, the selection unit selects correction information, and the generation unit generates correction information. Also, the selection unit, the selection unit, and the generation unit may be provided in different calculation processing devices.

[0215] For example, the selection unit may be provided in a calculation processing device (communication control device 21a) included in the vehicle body communication device 21 and configured with electric / electronic circuits, a CPU, programs stored in a memory, etc. In such a case, the generation unit 52g generates correction information based on the satellite signal acquired by the signal acquisition unit 52b, and the vehicle body communication device 21 receives the correction information via the communication device 51. The selection unit outputs, to the position detection device 22, the satellite signal from the selected positioning satellite G among the correction information generated by the generation unit 52g, and correction information based on the reference point RP of the base station 40 that received the satellite signal.

[0216] The selection unit and the generation unit may be provided in the communication control device 21a. In such a case, the vehicle body communication device 21 requests the support device 50 via the mobile terminal 30 for the satellite signal received by the base station 40 from the positioning satellite G selected by the selection unit, and receives the satellite signal via the communication device 51. The generation unit generates correction information based on the satellite signal received by the vehicle body communication device 21.

[0217] The selection unit and the generation unit may be provided in a calculation processing device (terminal calculation device 32) that the mobile terminal 30 has and that is configured from electric and electronic circuits, a CPU, programs stored in a memory, etc. In such a case, the mobile terminal 30 requests the support device 50 for the satellite signal received by the base station 40 from the positioning satellite G selected by the selection unit, and receives the satellite signal from the support device 50. The generation unit generates correction information based on the satellite signal received by the vehicle body communication device 21, and outputs the correction information to the position detection device 22 via the vehicle body communication device 21.

[0218] A support system s1 for a work machine 1 in one embodiment of the present invention includes a signal acquisition unit 52b that acquires satellite signals received from a plurality of positioning satellites G owned by a plurality of satellite positioning systems s2 by a plurality of base stations 40, each of which is provided at a predetermined reference point RP; a generation unit 52g that generates correction information based on the satellite signals acquired by the signal acquisition unit 52b; a selection unit 52c that selects one or more positioning satellites G from the plurality of positioning satellites G; and a position detection device 22 that detects the position of the work machine 1 using the satellite signal from the positioning satellite G selected by the selection unit 52c and the correction information based on the reference point RP of the base station 40 that received the satellite signal.If the number of positioning satellites G owned by the satellite positioning system s2 that do not satisfy predetermined conditions and are determined to be abnormal is equal to or greater than a predetermined threshold, the selection unit 52c does not select a plurality of positioning satellites G owned by the satellite positioning system s2.

[0219] According to this configuration, even if it is determined whether each positioning satellite G is normal or not, there may actually be an abnormality in the positioning satellite G. However, the selection unit 52c does not select a positioning satellite G that transmits a satellite signal used to generate correction information on a satellite positioning system s2 basis. This prevents the position detection device 22 from performing position detection using inaccurate correction information based on a satellite signal from a positioning satellite G with an abnormality.

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

[0221] According to this configuration, the server 50, which has a relatively high processing capacity, selects the positioning satellite G, so that the positioning satellite G can be selected quickly and reliably.

[0222] In addition, the support system s1 of the work machine 1 is provided in the work machine 1 and includes a vehicle body communication device 21 that receives the correction information generated by the generation unit 52g, and the signal acquisition unit 52b and the generation unit 52g are provided in an external server 50 that communicates with the vehicle body communication device 21, and the selection unit is provided in the vehicle body communication device 21, and outputs to the position detection device 22 the satellite signal from the selected positioning satellite G among the correction information generated by the generation unit 52g, and correction information based on the reference point RP of the base station 40 that received the satellite signal.

[0223] According to this configuration, the vehicle body communication device 21 outputs correction information corresponding to the positioning satellite G selected by the selection unit, from among the correction information already received, to the position detection device 22. Therefore, the position detection device 22 can detect the position of the work machine 1 using relatively new correction information.

[0224] The support system s1 of the work machine 1 includes a mobile terminal 30 capable of communicating with the server 50 and the vehicle body communication device 21, and the vehicle body communication device 21 receives correction information from the server 50 via the mobile terminal 30.

[0225] According to this configuration, even if the vehicle body communication device 21 cannot directly communicate with the server 50, it can indirectly communicate with the server 50 via the mobile terminal 30.

[0226] The selection unit 52c also determines, as a predetermined condition, whether or not health information of the positioning satellite G that transmitted the satellite signal, which is included in the satellite signal, is normal.

[0227] According to this configuration, it is possible to easily determine, based on a satellite signal, whether or not the positioning satellite G that transmitted the satellite signal is malfunctioning.

[0228] In addition, the selection unit 52c determines, as a specified condition, whether or not a second calculated distance between the positioning satellite G and the base station 40 calculated based on the satellite signal is appropriate compared to a first calculated distance between the positioning satellite G and the base station 40 calculated based on the position of the positioning satellite G that transmitted the satellite signal and the position of the reference point RP of the base station 40.

[0229] According to this configuration, the selection unit 52d can determine that some problem has occurred in the satellite signal from the positioning satellite G, and can exclude the positioning satellite G from the positioning satellites G that transmit the satellite signal used to generate the correction information. This can improve the accuracy of position detection based on the correction information.

[0230] When the number of positioning satellites G that do not satisfy the specified conditions among the multiple positioning satellites G possessed by the satellite positioning system s2 is greater than or equal to a threshold and becomes less than the threshold, the selection unit 52c selects positioning satellites G in order from those that satisfy the specified conditions.

[0231] This configuration makes it possible to prevent the number of positioning satellites G that transmit satellite signals used to generate correction information from fluctuating significantly in a short period of time. This makes it possible to prevent changes in the positioning state, such as changes in the detected position, caused by selecting a positioning satellite G of an unselected satellite positioning system s2.

[0232] In addition, the support system s1 of the work machine 1 is equipped with a determination unit 52i1 that determines the position detection accuracy, which is the accuracy of position detection based on the correction information generated by the generation unit 52g, and an alarm device 30 that, when the determination unit 52i1 determines that the position detection accuracy is relatively low, notifies the user that the position detection accuracy is relatively low.

[0233] With this configuration, the worker can easily understand that the accuracy of position detection based on the correction information is relatively low.

[0234] In addition, the generation unit 52g generates, as correction information, first correction information based on the satellite signal received by the base station 40 and the reference point RP of the base station 40, and second correction information including the satellite signal received by three or more specific base stations 40 among the multiple base stations 40, and virtual reference points VRP based on the reference points RP of the three or more base stations 40.

[0235] According to this configuration, the work machine 1 can perform relatively accurate position detection by position detection (RRS-GNSS method) using first correction information based on the reference point RP of the base station 40 and position detection (VRS-GNSS method) using second correction information based on the virtual reference point VRP.

[0236] In addition, the support system s1 of the work machine 1 is equipped with a selection unit 52d that selects one of the first correction information and the second correction information generated by the generation unit 52g, and the selection unit 52d selects the correction information based on the positional relationship between the work machine 1 and a polygonal area E connecting the reference points RP of three or more base stations 40.

[0237] According to this configuration, it is possible to appropriately select between position detection using the first correction information based on the reference point RP of the base station 40 (RRS-GNSS method) and position detection using the second correction information based on the virtual reference point VRP.

[0238] In addition, when the work machine 1 is located inside area E, the selection unit 52d preferentially selects satellite signals received by three or more base stations 40 and second correction information based on reference points RP of three or more base stations 40.

[0239] According to this configuration, when the work machine 1 is located inside the area E, if position detection is performed using the VRS-GNSS method, the second correction information can be generated by the interpolation method, and high position detection accuracy can be maintained.

[0240] In addition, if the distance D1 between each of the reference points RP of three or more base stations 40 is less than the first distance d1, the selection unit 52d preferentially selects the satellite signals received by the three or more base stations 40 and the second correction information based on the reference points RP of the three or more base stations 40.

[0241] According to this configuration, when the distance D1 between the reference points RP of the three base stations 40 is less than the first distance d1 and the area E is relatively small, position detection using the second correction information is possible, and high position detection accuracy can be maintained.

[0242] In addition, if the relative distance between the work machine 1 and the reference point RP of the base station 40 closest to the work machine 1 among the reference points RP of three or more base stations 40 is less than a predetermined second distance d2, the selection unit 52d preferentially selects the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1.

[0243] According to this configuration, even if the area E is relatively large, if the relative distance between the reference point RP of the base station 40 and the work machine 1 is less than the second distance d2 and the work machine 1 is located relatively close to the base station 40, the RRS-GNSS method can be used complementarily instead of the VRS-GNSS method, allowing the work machine 1 to perform position detection with relatively high accuracy.

[0244] In addition, when the work machine 1 is located inside area E, the distance D1 between each of the reference points RP of three or more base stations 40 is greater than or equal to a first distance d1, and the relative distance between the work machine 1 and the reference point RP of the base station 40 closest to the work machine 1 among the reference points RP of the three or more base stations 40 is greater than or equal to a predetermined second distance d2, the selection unit 52d preferentially selects the satellite signals received by the three or more base stations 40 and the second correction information based on the reference points RP of the three or more base stations 40, and in such a case, the alarm device 30 alarms that the position detection accuracy corresponding to the second correction information is relatively low.

[0245] According to this configuration, even if the area E is relatively large, since the work machine 1 is located relatively far from the base station 40, position detection using the VRS-GNSS method can be performed relatively better than using the RRS-GNSS method. Also, the worker can easily recognize that the position detection accuracy is relatively low.

[0246] In addition, when the work machine 1 is located outside area E and the relative distance between the work machine 1 and the reference point RP of the base station 40 that is closest to the work machine 1 among the reference points RP of three or more base stations 40 is greater than or equal to a predetermined second distance d2, the alarm device 30 alerts that the position detection accuracy corresponding to the first correction information is relatively low.

[0247] According to this configuration, when position detection is performed using the VRS-GNSS method, the second correction information is generated by estimation using extrapolation rather than interpolation, and since the relative distance between the work machine 1 and the base station 40 is relatively large, there is a risk that the position detection accuracy using the first correction information will decrease, so the worker can easily recognize that the position detection accuracy is relatively low in such a case.

[0248] Furthermore, the support system s1 for the work machine 1 includes a definition unit 52e that defines the first distance d1 in accordance with the content of the work performed by the work machine 1.

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

[0250] Furthermore, the support system s1 for the work machine 1 includes a definition unit 52e that defines the second distance d2 in accordance with the content of the work performed by the work machine 1.

[0251] According to this configuration, it is possible to select optimal correction information according to the type of work performed by the work machine 1, that is, according to the required position detection accuracy.

[0252] In addition, a method for supporting a work machine 1 according to one embodiment of the present invention includes a first step in which a selection unit 52c selects one or more positioning satellites G from among a plurality of positioning satellites G possessed by a plurality of satellite positioning systems s2; a second step in which a generation unit 52g generates correction information based on satellite signals received from the positioning satellite G by a plurality of base stations 40 each provided at a predetermined reference point RP and the reference point RP of the base station 40; and a third step in which a position detection device 22 detects the position of the work machine 1 using the correction information generated in the second step based on the satellite signal from the positioning satellite G selected in the first step and the reference point RP of the base station 40 that received the satellite signal. In the first step, if the number of positioning satellites G possessed by the satellite positioning system s2 that do not satisfy a predetermined condition and are determined to be abnormal is equal to or greater than a predetermined threshold, the selection unit 52c does not select a plurality of positioning satellites G possessed by the satellite positioning system s2.

[0253] According to this configuration, even if it is determined whether each positioning satellite G is normal or not, there may actually be an abnormality in the positioning satellite G. However, the selection unit 52c does not select a positioning satellite G that transmits a satellite signal used to generate correction information on a satellite positioning system s2 basis. This prevents the position detection device 22 from performing position detection using inaccurate correction information based on a satellite signal from a positioning satellite G with an abnormality.

[0254] In addition, the support system s1 for the work machine 1 in one embodiment of the present invention includes an acquisition unit that acquires satellite signals from a positioning satellite G received by a plurality of base stations 40 each installed at a predetermined reference point RP, a generation unit 52g that generates first correction information based on the satellite signals received by the base station 40 and the reference point RP of the base station 40, and generates second correction information including a virtual reference point VRP based on the satellite signals received by three or more predetermined base stations 40 among the plurality of base stations 40 and the reference points RP of the three or more base stations 40, a selection unit 52d that selects one of the first correction information and the second correction information generated by the generation unit 52g, and a position detection device 22 that detects the position of the work machine 1 based on the correction information generated by the generation unit 52g, and the selection unit 52d selects the correction information for each work area H where the work machine 1 performs work.

[0255] According to this configuration, the selection unit 52d selects appropriate correction information for each work area H. That is, the correction information does not frequently switch between the first correction information and the second correction information when the work machine 1 moves through the work area H. This allows the work machine 1 to perform position detection with high accuracy, and can suppress changes in the positioning state, such as fluctuations in the detected position, caused by switching of the correction information.

[0256] In addition, the selection unit 52d selects correction information based on specified conditions at each position of a specified area obtained by dividing the work area H into a specified range, and selects, for each work area H, the correction information with the largest selected area within the work area H.

[0257] According to this configuration, the selection unit 52d can appropriately reflect the correction information selected based on the conditions for each work area H. Therefore, the transmission unit can appropriately transmit the correction information according to the conditions of the selection unit 52d to the work machine 1.

[0258] Moreover, the work area H is defined in advance based on the farm field in which the work implement 1 will carry out work.

[0259] According to this configuration, when the work machine 1 works in a field, the correction information does not frequently switch between the first correction information and the second correction information, and changes in the positioning state, such as fluctuations in the detected position, can be suppressed.

[0260] Moreover, the work area H is predefined based on the contour of the field.

[0261] According to this configuration, when the work machine 1 works in a farm field, it is possible to more reliably prevent the correction information from frequently switching between the first correction information and the second correction information.

[0262] Further, the work area H is defined in advance as a work region in which the work machine 1 performs a series of works.

[0263] With this configuration, while the work machine 1 is performing a series of tasks, the correction information does not frequently switch between the first correction information and the second correction information, and changes in the positioning state, such as fluctuations in the detected position, can be suppressed.

[0264] Moreover, the work area H is a travel area in which the work machine 1 performs automatic travel, and is defined in advance before the automatic travel is performed.

[0265] According to this configuration, while the work machine 1 is performing automatic driving, the correction information does not frequently switch between the first correction information and the second correction information, and changes in the positioning state, such as fluctuations in the detected position, can be suppressed.

[0266] Furthermore, when the work machine 1 enters or leaves the work area H, the selection unit 52d selects the correction information corresponding to the work area H in which the work machine 1 is located.

[0267] According to this configuration, when the work machine 1 is moving within the work area H, switching of the correction information can be reliably prevented.

[0268] Furthermore, the selection unit 52d selects the correction information according to the positional relationship between the work machine 1 and a polygonal area E that connects the reference points RP of three or more base stations 40.

[0269] According to this configuration, it is possible to appropriately select between position detection using the first correction information based on the reference point RP of the base station 40 (RRS-GNSS method) and position detection using the second correction information based on the virtual reference point VRP.

[0270] In addition, when the work machine 1 is located inside area E, the selection unit 52d preferentially selects satellite signals received by three or more base stations 40 and second correction information based on reference points RP of three or more base stations 40.

[0271] According to this configuration, when the work machine 1 is located inside the area E, if position detection is performed using the VRS-GNSS method, the second correction information can be generated by the interpolation method, and high position detection accuracy can be maintained.

[0272] In addition, if the distance D1 between each of the reference points RP of three or more base stations 40 is less than the first distance d1, the selection unit 52d preferentially selects the satellite signals received by the three or more base stations 40 and the second correction information based on the reference points RP of the three or more base stations 40.

[0273] According to this configuration, when the distance D1 between the reference points RP of the three base stations 40 is less than the first distance d1 and the area E is relatively small, position detection using the second correction information is possible, and high position detection accuracy can be maintained.

[0274] Furthermore, the selector 52d preferentially selects the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1.

[0275] According to this configuration, if both the first correction information and the second correction information are satisfied, the first correction information is selected, thereby reducing the processing load on the generation unit 52g caused by generating the second correction information.

[0276] In addition, if the relative distance between the work machine 1 and the reference point RP of the base station 40 closest to the work machine 1 among the reference points RP of three or more base stations 40 is less than a predetermined second distance d2, the selection unit 52d preferentially selects the first correction information based on the satellite signal received by the base station 40 closest to the work machine 1.

[0277] According to this configuration, even if the area E is relatively large, if the relative distance between the reference point RP of the base station 40 and the work machine 1 is less than the second distance d2 and the work machine 1 is located relatively close to the base station 40, the RRS-GNSS method can be used complementarily instead of the VRS-GNSS method, allowing the work machine 1 to perform position detection with relatively high accuracy.

[0278] In addition, when the work machine 1 is located inside area E, the distance D1 between each of the reference points RP of three or more base stations 40 is greater than or equal to a first distance d1, and the relative distance between the work machine 1 and the reference point RP of the base station 40 closest to the work machine 1 among the reference points RP of the three or more base stations 40 is greater than or equal to a predetermined second distance d2, the selection unit 52d preferentially selects the satellite signals received by the three or more base stations 40 and the second correction information based on the reference points RP of the three or more base stations 40.

[0279] According to this configuration, even if the area E is relatively large, since the work machine 1 is located relatively far from the base station 40, by adopting position detection using the VRS-GNSS method, position detection can be performed relatively better than with the RRS-GNSS method.

[0280] Furthermore, the support system s1 for the work machine 1 includes a definition unit 52e that defines the first distance d1 in accordance with the content of the work performed by the work machine 1.

[0281] According to this configuration, it is possible to select optimal correction information according to the type of work performed by the work machine 1, that is, according to the required position detection accuracy.

[0282] Furthermore, the support system s1 for the work machine 1 includes a definition unit 52e that defines the second distance d2 in accordance with the content of the work performed by the work machine 1.

[0283] According to this configuration, it is possible to select optimal correction information according to the type of work performed by the work machine 1, that is, according to the required position detection accuracy.

[0284] In addition, when the position detection accuracy, which is the accuracy of position detection based on the selected correction information, is less than a predetermined height, the selection unit 52d selects, instead of the correction information, correction information whose position detection accuracy is equal to or greater than the height and which is used in another work machine 1A in the vicinity of the work machine 1.

[0285] According to this configuration, even if the position detection accuracy decreases due to factors other than the predetermined conditions, the position detection device 22 can detect the position of the work machine 1 using correction information that has been properly detected by a nearby work machine 1.

[0286] Furthermore, when there is a history of selecting a plurality of different correction information in the working area H, the selector 52d selects the correction information with the highest position detection accuracy based on the position detection accuracy of each of the correction information.

[0287] According to this configuration, the selector 52d can select optimal correction information for the working area H, even if a temporary erroneous detection occurs.

[0288] In addition, the support system s1 for the work machine 1 is provided in the work machine 1 and includes a control device 23 that controls the automatic driving of the work machine 1 based on the position of the work machine 1 detected by the position detection device 22 and a predetermined planned driving route L created on a map indicating the work area H.

[0289] According to this configuration, a relatively high level of position detection accuracy can be maintained, so that the control device 23 can perform accurate control of automatic traveling based on the position of the work machine 1 and the planned traveling route L.

[0290] Furthermore, a method of supporting a work machine 1 according to one embodiment of the present invention includes a first step in which a selection unit 52d selects either first correction information based on a satellite signal from a positioning satellite G received by a base station 40 and a reference point RP of the base station 40 that received the satellite signal, or second correction information including a virtual reference point VRP based on a satellite signal received by three or more specified base stations 40 and a reference point RP of the three or more base stations 40, a second step in which a generation unit 52g generates the correction information selected in the first step, and a third step in which a position detection device 22 detects the position of the work machine 1 based on the correction information generated by the generation unit 52g in the second step, and in the first step, the selection unit 52d selects the correction information for each work area H in which the work machine 1 performs work.

[0291] According to this configuration, the selection unit 52d selects appropriate correction information for each work area H. That is, the correction information does not frequently switch between the first correction information and the second correction information when the work machine 1 moves through the work area H. This allows the work machine 1 to perform position detection with high accuracy, and can suppress changes in the positioning state, such as fluctuations in the detected position, caused by switching of the correction information.

[0292] Although the present invention has been described above, the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0293] 1: Work equipment 1A: Another work machine 22: Position detection device 23: Control device 40:Base station 52d: Selection section 52e :Definition part 52g: Generation part D1: Distance E: Area G: Positioning satellite H: Working area L: Planned route RP:Reference point VRP: Virtual Reference Point d1: First distance d2: 2nd distance s1: Support system

Claims

1. an acquisition unit that acquires satellite signals from positioning satellites received by a plurality of base stations each installed at a predetermined reference point; a generation unit that generates first correction information based on the satellite signal received by the base station and the reference point of the base station, and generates second correction information including a virtual reference point based on the satellite signal received by three or more predetermined base stations among the plurality of base stations and the reference points of the three or more predetermined base stations; a selection unit that selects one of the first correction information and the second correction information generated by the generation unit; a position detection device that detects a position of a work machine based on the correction information generated by the generation unit; Equipped with The selection unit is a work machine support system that selects the correction information for each work area in which the work machine performs work.

2. The work machine support system of claim 1, wherein the selection unit selects the correction information based on specified conditions at each position of a specified area obtained by dividing the work area into a specified range, and selects, for each work area, the correction information that has a large selected area within the work area.

3. The support system for a work implement according to claim 2 , wherein the work area is defined in advance based on a farm field in which the work implement is to work.

4. 4. The support system for a work implement according to claim 3, wherein the work area is defined in advance based on an outline of the field.

5. The assistance system according to claim 2 , wherein the work area is defined in advance as a work region in which the work machine performs a series of operations.

6. The assistance system according to claim 2 , wherein the work area is a travel area in which the work machine performs automatic travel and is defined in advance before the automatic travel is performed.

7. The support system for a work machine according to claim 2 , wherein the selection unit selects the correction information corresponding to the work area in which the work machine is located when the work machine enters or leaves the work area.

8. The work machine support system according to claim 1 , wherein the selection unit selects the correction information according to a positional relationship between a polygonal area connecting the reference points of three or more base stations and the work machine.

9. A work machine support system as described in claim 8, wherein when the work machine is located inside the area, the selection unit preferentially selects the satellite signals received by the three or more base stations and the second correction information based on the reference points of the three or more base stations.

10. A work machine support system as described in claim 8, wherein when the distance between each of the reference points of the three or more base stations is less than a first distance, the selection unit preferentially selects the satellite signals received by the three or more base stations and the second correction information based on the reference points of the three or more base stations.

11. The support system for a work machine according to claim 8 , wherein the selection unit preferentially selects the first correction information based on the satellite signal received by the base station closest to the work machine.

12. A work machine support system as described in claim 8, wherein when the relative distance between the work machine and the reference point of the base station closest to the work machine among the three or more base stations is less than a predetermined second distance, the selection unit preferentially selects the first correction information based on the satellite signal received by the base station closest to the work machine.

13. A work machine support system as described in claim 8, wherein when the work machine is located inside the area, the distance between each of the reference points of the three or more base stations is a first distance or more, and the relative distance between the work machine and the reference point of the base station among the reference points of the three or more base stations that is closest to the work machine is a predetermined second distance or more, the selection unit preferentially selects the satellite signals received by the three or more base stations and the second correction information based on the reference points of the three or more base stations.

14. The support system for a work machine according to claim 10 or 13, further comprising a definition unit that defines the first distance in accordance with the type of work performed by the work machine.

15. The support system for a work machine according to claim 12 or 13, further comprising a definition unit that defines the second distance depending on the type of work performed by the work machine.

16. The work machine assistance system of claim 1, wherein when the position detection accuracy, which is the accuracy of position detection based on the selected correction information, is less than a predetermined height, the selection unit selects, instead of the correction information, the correction information whose position detection accuracy is equal to or greater than the height and which is used in another work machine in the vicinity of the work machine.

17. The work machine assistance system of claim 16, wherein the selection unit selects the correction information with the highest position detection accuracy based on the position detection accuracy of each of the correction information when there is a history of selecting multiple different correction information in the work area.

18. 2. The work machine assistance system according to claim 1, further comprising a control device provided in the work machine and controlling automatic driving of the work machine based on the position of the work machine detected by the position detection device and a predetermined planned driving route created on a map indicating the work area.

19. a first step in which a selection unit selects either first correction information based on a satellite signal from a positioning satellite received by a base station and a reference point of the base station that received the satellite signal, or second correction information including a virtual reference point based on the satellite signal received by three or more predetermined base stations and the reference point of the three or more base stations; a second step in which a generation unit generates the correction information selected in the first step; a third step of detecting a position of a work machine by a position detection device based on the correction information generated by the generation unit in the second step; Including, The method for supporting a work machine, in the first step, wherein the selection unit selects the correction information for each work area in which the work machine performs work.

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