JP7373618B2 - Reference station display system and reference station display method - Google Patents

Description

The present invention mainly relates to a reference station display system and a reference station display method for displaying a reference station that generates positioning correction information.

2. Description of the Related Art Conventionally, techniques for autonomously driving a work vehicle along a travel route have been known. In order to allow a work vehicle to travel autonomously, it is necessary to register in advance a travel area in which the work vehicle will travel, and create a travel route in this travel area. Here, the position of the work vehicle during autonomous driving and the position for registering the driving area are calculated using GNSS technology or the like. Furthermore, position accuracy can be improved by calculating the position using positioning correction information generated by a reference station whose position is known.

Patent Document 1 discloses that identification information and latitude and longitude of a reference station used when registering a driving area and identification information and latitude and longitude of a reference station used to obtain the current position of a work vehicle are displayed on a wireless communication terminal. Disclosed.

Japanese Patent Application Publication No. 2018-147164

Here, since the positioning correction information is different if the reference station is different, during autonomous driving, it is necessary to use the same reference station as when registering the driving area. However, simply displaying the information regarding both reference stations in text as in Patent Document 1 does not allow us to determine in which position the reference station should be set when the reference stations are different (in which position should the reference station be set? ), the operator cannot intuitively grasp it.

The present invention has been made in view of the above circumstances, and its main purpose is to set a reference station for autonomous driving even if the position of the reference station is different between when registering a driving area and when autonomous driving. An object of the present invention is to provide a reference station display system that allows an operator to intuitively grasp the position.

A reference station display system according to one aspect of the present invention includes a display control unit that displays information regarding the position of a reference station on a display unit. The reference station is a reference station installed at a known position, and is used to generate positioning correction information for specifying the position of a work vehicle as an autonomously traveling mobile station.

1 is a side view of a rice transplanter related to a reference station display system according to an embodiment of the present invention. A plan view of a rice transplanter. A block diagram of a rice transplanter and a wireless communication terminal. The flowchart which shows the process which determines the reference station used for registering a field. The figure which shows the state where the screen which selects the reference station used for registering a field is displayed. FIG. 3 is a diagram showing a state where a screen for selecting a reference station to be used for field registration is displayed in a situation where there are a plurality of connectable reference stations. 5 is a flowchart showing processing related to setting of a reference station used for autonomous driving. The figure which shows the screen displayed on a wireless communication terminal when the reference station used for autonomous driving and the reference station at the time of field registration do not match. The figure which shows the screen displayed on a wireless communication terminal when the reference station used for autonomous driving and the reference station at the time of field registration match.

Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a side view of a rice transplanter 1 related to a reference station display system 100 according to an embodiment of the present invention. FIG. 2 is a plan view of the rice transplanter 1. FIG. 3 is a block diagram of the rice transplanter 1 and the wireless communication terminal 7. Further, FIG. 3 shows a reference station display system 100 and an autonomous driving system 200.

In the present embodiment, the autonomous driving system 200 uses a rice transplanter 1 as a work vehicle that performs work in a field, and allows the rice transplanter 1 to run autonomously by giving instructions from an operator using a wireless communication terminal 7 or the like. At the same time, the rice transplanter 1 is made to perform work (planting work of seedlings). In addition, the work vehicle in this invention is not limited to the rice transplanter 1, For example, a seeding machine, a tractor, a combine harvester, etc. can be used.

Autonomous running means that a device related to running is controlled by a control unit included in the rice transplanter 1, so that at least steering is performed autonomously along a predetermined route. Furthermore, in addition to steering, the vehicle speed or work using a working machine may be autonomously performed. Autonomous running includes a case where a person is on the rice transplanter 1 and a case where a person is not on the rice transplanter 1.

As shown in FIGS. 1 and 2, the rice transplanter 1 includes a vehicle body 11, a front wheel 12, a rear wheel 13, and a planting section 14. The front wheels 12 and the rear wheels 13 are provided in pairs on the left and right sides of the vehicle body 11, respectively.

The vehicle body portion 11 includes a bonnet 21. The bonnet 21 is provided at the front part of the vehicle body part 11. An engine 22 is provided inside the hood 21.

The power generated by the engine 22 is transmitted to the front wheels 12 and the rear wheels 13 via the transmission case 23. This power is also transmitted to the planting section 14 via the transmission case 23 and the PTO shaft 24 arranged at the rear of the vehicle body section 11.

The vehicle body section 11 further includes a driver's seat 25 and a plurality of operating members. An operator can sit on the driver's seat 25. The driver's seat 25 is arranged between the front wheels 12 and the rear wheels 13 in the longitudinal direction of the vehicle body 11. The plurality of operation members include a steering handle 26 and a speed change operation pedal 27.

By operating the steering handle 26, the rice transplanter 1 can be steered. By operating the speed change operation pedal 27, the traveling speed (vehicle speed) of the rice transplanter 1 can be adjusted.

The planting section 14 is arranged at the rear of the vehicle body section 11. The planting section 14 is connected to the vehicle body section 11 via an elevating link mechanism 31. The elevating link mechanism 31 is composed of parallel links including a top link 31a and a lower link 31b.

In the elevating link mechanism 31, an elevating cylinder 32 of an elevating device is connected to the lower link 31b. The lifting device can move the planting section 14 up and down with respect to the vehicle body 11 by expanding and contracting the lifting cylinder 32. In addition, although the elevating cylinder 32 is a hydraulic cylinder in this embodiment, it may be an electric cylinder. Moreover, the said raising/lowering device may raise and lower the planting part 14 by actuators other than a cylinder.

The planting section 14 includes a planting input case section 33, a plurality of planting units 34, a seedling stand 35, a plurality of floats 36, and a spare seedling stand 37. The planting unit 14 can sequentially supply seedlings from the seedling stand 35 to each planting unit 34, and can continuously plant the seedlings.

Each planting unit 34 has a planting transmission case part 41 and a rotating case part 42. Power is transmitted to the planting transmission case section 41 via the PTO shaft 24 and the planting input case section 33.

The rotating case part 42 is rotatably attached to the planting transmission case part 41. The rotating case portion 42 is arranged on both sides of the planting transmission case portion 41 in the vehicle width direction. Two planting claws 43 are attached to one side of each rotating case part 42.

The two planting claws 43 are arranged in the direction of movement of the rice transplanter 1. The two planting claws 43 are displaced as the rotating case portion 42 rotates. By displacing the two planting claws 43, one row of seedlings is planted.

The seedling stand 35 is arranged above and in front of the plurality of planting units 34. The seedling table 35 can place a seedling mat. The seedling table 35 is configured to be able to supply seedlings on the seedling mat placed on the seedling table 35 to each planting unit 34.

Specifically, the seedling platform 35 is configured to be able to move laterally (slide in the lateral direction) so as to reciprocate in the vehicle width direction. Further, the seedling platform 35 is configured to be able to intermittently transport the seedling mat vertically downward at the end of the reciprocating movement of the seedling platform 35 .

The float 36 is swingably provided at the lower part of the planting section 14. The lower surface of the float 36 can be brought into contact with the field surface in order to stabilize the planting posture of the planting section 14 with respect to the field surface.

A pair of spare seedling stands 37 are provided on the left and right sides of the vehicle body 11. The spare seedling stand 37 is arranged outside the bonnet 21 in the vehicle width direction. The spare seedling stand 37 can mount a seedling box containing spare mat seedlings.

The upper parts of the left and right pair of spare seedling stands 37 are connected to each other by a connecting frame 28 extending in the vertical direction and the vehicle width direction. A housing 29 is provided at the center of the connection frame 28 in the vehicle width direction. Inside the housing 29, a positioning antenna 61, an inertial measurement device 62, and a communication antenna 63 are provided.

The positioning antenna 61 can receive radio waves from positioning satellites that constitute a satellite positioning system (GNSS). By performing a known positioning calculation based on this radio wave, the position of the rice transplanter 1 can be acquired.

The inertial measurement device 62 includes three gyro sensors (angular velocity sensors) and three acceleration sensors. By supplementarily using the angular velocity and acceleration of the rice transplanter 1 detected by the inertial measurement device 62, the accuracy of the positioning result of the rice transplanter 1 is improved.

The communication antenna 63 is an antenna for performing wireless communication with the wireless communication terminal 7 shown in FIG.

As shown in FIG. 3, the control unit 50 includes an arithmetic unit, a storage device, an input/output unit, etc. (not shown). The storage device stores various programs, data, and the like. The arithmetic device can read various programs from the storage device and execute them. Through the cooperation of the above-mentioned hardware and software, the control section 50 can be operated as the traveling control section 51 and the working machine control section 52. The control unit 50 may be one piece of hardware or may be a plurality of pieces of hardware that can communicate with each other. In addition to the above-mentioned inertial measurement device 62, the control section 50 is connected to a position acquisition section 64, a communication processing section 65, a vehicle speed sensor 66, and a steering angle sensor 67.

The position acquisition unit 64 acquires positioning information of the rice transplanter 1 (mobile station) based on radio waves received by the positioning antenna 61 from a positioning satellite. More specifically, the position acquisition unit 64 acquires, for each of the positioning satellites that have received radio waves, the pseudo distance from the positioning satellite to the positioning antenna 61 and the carrier wave phase when the radio waves reach the positioning antenna 61. . This pseudorange is obtained by multiplying the signal propagation time measured using the internal clock of the positioning satellite and the internal clock of the position acquisition unit 64 by the speed of light. Further, the carrier wave phase is obtained by measuring the difference between the phase of the carrier wave received by the positioning antenna 61 and the phase output by the internal oscillator of the position acquisition unit 64.

In addition, the position acquisition unit 64 acquires positioning correction information generated based on the pseudo distance from the positioning satellite to the reference station 120 and the carrier phase when reaching the reference station 120, regarding the reference station 120 whose position is known. do. As shown in FIG. 3, the position acquisition unit 64 acquires positioning correction information through direct communication between the reference station 120 and the rice transplanter 1. Note that the position acquisition unit 64 may acquire the positioning correction information via the Internet, the wireless communication terminal 7, etc.

The position acquisition unit 64 uses the positioning information, which is the observed value obtained by the rice transplanter 1, and the positioning correction information generated by the reference station 120, and performs calculations based on the known GNSS-RTK method. A baseline solution between the rice transplanter 1 as a station and the reference station 120 is continuously calculated. Thereby, a positioning solution, which is the position of the rice transplanter 1, can be obtained in real time. In the GNSS-RTK method, both the rice transplanter 1 and the reference station 120 detect the carrier wave phase of the radio waves from the GNSS satellite and use it for positioning calculations, so the position of the rice transplanter 1 can be determined with significantly higher accuracy than normal independent positioning. can be obtained. Note that instead of the GNSS-RTK method, for example, positioning calculation using differential GNSS may be performed.

The communication processing section 65 is electrically connected to the communication antenna 63. This communication processing unit 65 can perform modulation processing or demodulation processing using an appropriate method, and can transmit and receive data to and from the wireless communication terminal 7.

The vehicle speed sensor 66 can detect the vehicle speed of the rice transplanter 1. The vehicle speed sensor 66 is provided at an appropriate position of the rice transplanter 1, for example, on the axle of the front wheel 12. In this case, the vehicle speed sensor 66 generates a pulse according to the rotation of the axle of the front wheel 12. The data of the detection results obtained by the vehicle speed sensor 66 is output to the control section 50.

The steering angle sensor 67 can detect the steering angle of the front wheels 12. The steering angle sensor 67 is provided at an appropriate position of the rice transplanter 1, for example, on a kingpin (not shown) provided on the front wheel 12. Note that the steering angle sensor 67 may be provided on the steering handle 26. The data of the detection results obtained by the steering angle sensor 67 is output to the control section 50.

The traveling control unit 51 can automatically control the traveling of the rice transplanter 1. For example, the travel control unit 51 can perform vehicle speed control and steering control. The travel control section 51 may perform both vehicle speed control and steering control at the same time, or may perform only steering control. In the latter case, the vehicle speed of the rice transplanter 1 is controlled by the operator using the speed change operation pedal 27.

In the vehicle speed control, the vehicle speed of the rice transplanter 1 is adjusted based on predetermined conditions. Specifically, the vehicle speed control is performed by the travel control unit 51 to bring the current vehicle speed obtained from the detection result of the vehicle speed sensor 66 closer to the target vehicle speed. This control is realized by changing at least one of the gear ratio of the transmission in the transmission case 23 and the rotational speed of the engine 22. Note that this vehicle speed control also includes control to reduce the vehicle speed to zero so that the rice transplanter 1 stops.

Steering control is control that adjusts the steering angle of the rice transplanter 1 based on predetermined conditions. Specifically, the steering control section 51 performs control to bring the current steering angle obtained from the detection result of the steering angle sensor 67 closer to the target steering angle. This control is realized, for example, by driving a steering actuator provided on the rotation shaft of the steering handle 26. Regarding steering control, the traveling control unit 51 may directly adjust the steering angle of the front wheels 12 of the rice transplanter 1 instead of the rotation angle of the steering handle 26.

The work machine control unit 52 can control the operation (elevating operation, planting work, etc.) of the planting unit 14 based on predetermined conditions.

The wireless communication terminal 7 is a tablet terminal, and includes a communication antenna 71, a communication processing section 72, a display section 73, an operation section 74, and a control section 80. Note that the wireless communication terminal 7 is not limited to a tablet terminal, but may be a smartphone or a notebook computer. The wireless communication terminal 7 performs various processes related to the autonomous running of the rice transplanter 1 as described below, but the control unit 50 of the rice transplanter 1 can also perform at least part of these processes. Conversely, the wireless communication terminal 7 can also perform at least a part of the various processes related to autonomous driving performed by the control unit 50 of the rice transplanter 1.

The communication antenna 71 includes a short-range communication antenna for wireless communication with the rice transplanter 1 and a mobile communication antenna for communication using a mobile phone line and the Internet. The communication processing section 72 is electrically connected to the communication antenna 71. The communication processing unit 72 can perform modulation processing or demodulation processing using an appropriate method to transmit and receive data with the wireless communication terminal 7 or other devices. Therefore, for example, part of the information stored in the control unit 50 or the control unit 80 can be stored in an external server.

The display section 73 is a liquid crystal display, an organic EL display, or the like, and is configured to be able to display images. The display unit 73 can display, for example, information regarding autonomous travel, information regarding settings of the rice transplanter 1, detection results of various sensors, warning information, and the like. The operation unit 74 includes a touch panel and hardware keys. The touch panel is disposed overlapping the display section 73 and can detect operations by an operator's fingers or the like. The hardware key is arranged on the side surface of the housing of the wireless communication terminal 7 or around the display section 73, and can be operated by pressing the key by the operator. Note that the wireless communication terminal 7 may be configured to include only either a touch panel or a hardware key.

The control unit 80 includes an arithmetic unit, a storage device, an input/output unit, etc. (not shown). The storage device stores various programs, data, and the like. The arithmetic device can read various programs from the storage device and execute them. Through the cooperation of the above hardware and software, the control section 80 is integrated into the storage section 81, the fixed station information acquisition section 82, the display control section 83, the reference station selection section 84, the reference station setting section 85, the area registration section 86, and the determination section. It can be operated as 87. The processing performed by each part of the control unit 80 will be described later.

Next, with reference to FIGS. 4 and 5, a process for displaying reference station information when registering a field will be described. FIG. 4 is a flowchart showing a process for determining a reference station to be used for registering a field. FIG. 5 is a diagram showing a state where a screen for selecting a reference station to be used for registering a field is displayed.

As a preliminary setting for causing the rice transplanter 1 to run autonomously, it is necessary to register the field (driving area) that is the target for autonomous running. In this embodiment, data indicating the position and shape of the field is created based on the transition of position information when the rice transplanter 1 is run along the outer periphery of the field, and is registered in the wireless communication terminal 7 or the above-mentioned server. be done. As described above, in this embodiment, since the position of the rice transplanter 1 is acquired based on positioning correction information from a reference station rather than independent positioning, it is necessary to determine a reference station to be used for field registration.

Furthermore, the reference stations include fixed reference stations and portable reference stations. A fixed reference station is a reference station whose installation location is determined. Fixed reference stations are installed, for example, by public institutions, and specifications such as installation positions and communication ranges are made public. The portable reference station can be fixed to the ground or the like, but it is configured so that it can be partially or completely removed to change its installation position. In addition, when simply referred to as a "base station", as a general rule, it includes fixed base stations and portable base stations.

First, the control unit 80 (fixed station information acquisition unit 82) acquires the position and communication range of a fixed reference station (S101). If the information on the fixed reference station is made public, the fixed station information acquisition unit 82 accesses the relevant database and acquires the information on the fixed reference station. Note that, if the information on the fixed reference station is stored in the storage unit 81 or the above-mentioned server, etc., it is accessed to obtain the information on the fixed reference station.

Next, the control unit 80 acquires the current position of the rice transplanter 1 calculated by the position acquisition unit 64 (S102). The current position of the rice transplanter 1 acquired here is for identifying a fixed reference station with which it can communicate, so high positional accuracy is not required. Therefore, the position acquisition unit 64 acquires the position of the rice transplanter 1, for example, by independent positioning. Alternatively, if the wireless communication terminal 7 is provided with a positioning antenna, the current position may be acquired by performing independent positioning using radio waves received by the positioning antenna.

Next, the control unit 80 identifies a fixed reference station whose current position is included in the communication range based on the position and communication range of the fixed reference station obtained in step S101 and the current position obtained in step S102 (S103 ).

Next, the control unit 80 (display control unit 83) displays the position and communication range of the fixed reference station on the map (S104). Specifically, the display control section 83 performs control to display the image shown in FIG. 5 on the display section 73. The display control unit 83 displays a current position icon 101, a reference station icon 103, and a communication range circle 104. The current position icon 101 indicates the current position acquired in step S102. The reference station icon 103 indicates the position of the fixed reference station acquired in step S101. A communication range circle 104 indicates the communication range of the fixed reference station acquired in step S101. In this embodiment, these positions and areas are graphically shown not as characters but as positions on a map, making it easy for the operator to intuitively grasp the situation.

Further, the communication range circle 104 that overlaps with the current position (in other words, the communication range circle 104 of a reference station that can communicate at the current position) is displayed in a different manner from the other communication range circles 104. The different aspects include, for example, different colors within the communication range, different colors of the outline, and different presence or absence of blinking. Further, if the position, communication range, etc. of the portable reference station are registered in advance, the position and communication range of the portable reference station may also be displayed. In this case, the manner in which the portable reference station and the fixed reference station are displayed may be different.

Furthermore, as shown by rectangles and the like in FIG. 5, this map includes information on the farm field. The field information is information created based on, for example, aerial photographs. It should be noted that, since the field is not registered at this time, the exact position and shape of the field are not registered. By displaying field information on a map, it is possible to intuitively understand which fixed reference station's communication range includes the field to be registered. Note that the map may include information other than fields.

Next, the control unit 80 (reference station selection unit 84) either selects the reference station to be used for field registration or accepts the operator's selection (S105). Since there is a possibility that the rice transplanter 1 will autonomously run in the entire field to be registered, the entire field to be registered needs to be within the communication range of the same reference station. For example, in the example shown in FIG. 6, the current position is within the communication range of two reference stations indicated by reference station icons 103a and 103b. Further, the communication range circle 104a includes the entire field, but the communication range circle 104b includes only a part of the field. Therefore, in such a situation, it is necessary to select the reference station indicated by the reference station icon 103a. Specifically, the reference station selection unit 84 compares the location information of the field to be registered (field information included in the map) with the position and communication range of the reference station, thereby determining the entire field to be registered. Select a reference station (selected reference station) within the communication range. Note that the operator may select a reference station (selected reference station) based on the display in FIG. 5, and the reference station selection unit 84 may accept the selection.

Further, at least one of the display objects (current position icon 101, reference station icon 103, and communication range circle 104) displayed by the display control unit 83 in step S104 can be switched between display and non-display.

After that, the field is registered. Specifically, after instructing the wireless communication terminal 7 to register the field, the operator operates the rice transplanter 1 to run along the outer periphery of the field. During this time, the position acquisition unit 64 calculates the current position of the rice transplanter 1 and its change using the positioning correction information received from the reference station selected in step S105 and the positioning information received by the positioning antenna 61. The control unit 80 (area registration unit 86) creates data indicating the position and shape of the field based on the change in the current position acquired from the position acquisition unit 64, and registers it in the wireless communication terminal 7 or the above-mentioned server. Furthermore, the reference station used to register the field is also registered in association with the field. At this time, whether a fixed reference station or a portable reference station was used to register the field may also be registered. The reference station at the time of field registration corresponds to the second reference station. After the field is registered, a travel route for autonomously driving the rice transplanter 1 is created within the field.

Next, the process of displaying information regarding the reference station at the start of autonomous driving will be described with reference to FIGS. 7 to 9. FIG. 7 is a flowchart showing processing related to setting of a reference station used for autonomous driving. FIGS. 8 and 9 are diagrams showing a state in which a screen for confirming and changing a reference station used for autonomous driving is displayed. In the following description, it is assumed that the rice transplanter 1 is connected to a reference station selected based on an operator's instructions or other conditions.

First, the control unit 80 (fixed station information acquisition unit 82) acquires the position of a fixed reference station (S201). The method of acquiring the position of the fixed reference station is the same as in step S101. Further, when the field is registered using a portable reference station, the control unit 80 acquires the position of the portable reference station (S202). Next, the control unit 80 identifies the currently connected reference station (S203). Note that the currently connected reference station corresponds to the first reference station. Since the positioning correction information received from the reference station includes information for identifying the reference station (identification information or installation position), the currently connected reference station can be identified based on this information.

Next, the control unit 80 (display control unit 83) displays the position of the reference station on the map together with the map on the display unit 73 (S204). This map also includes field information. The position and shape of the field displayed here are based on the information registered above. In addition, the field that is the target of autonomous travel is displayed in a different manner from the others (in FIGS. 8 and 9, dots are added to the fields that are the target of autonomous travel). Further, as shown in FIG. 8, the display control unit 83 displays the position of the reference station by adding a display specifying that it is currently connected and a display specifying that it was used at the time of field registration. Specifically, the display control unit 83 displays the reference station icon 106 in bold for the currently connected reference station. Furthermore, the display control unit 83 adds a circle to the reference station icon 106 for the reference station at the time of field registration. Note that if the currently connected reference station matches the reference station at the time of field registration, a bold reference station icon 106 with a circle is displayed as shown in FIG. In this way, it is preferable that the display for specifying the currently connected reference station and the display for specifying the reference station at the time of field registration can be applied in duplicate. In this embodiment, the position of the reference station is shown graphically as a position on a map rather than as text, making it easier for the operator to intuitively understand the situation.

Here, when using a portable reference station, for example, when the rice transplanter 1 runs autonomously in the field A, the portable reference station is placed near the field A, and then when the rice transplanter 1 runs autonomously in the field B, the portable reference station is placed near the field A. In some cases, a portable reference station is moved and installed near field B. Here, if the operator forgets to move the portable reference station near field B, the currently connected reference station and the reference station at the time of field registration do not match, so it is necessary to move the portable reference station. However, when there are multiple installation candidates for portable reference stations, the operator may not be able to appropriately determine which portable reference station should be moved to which installation location. In particular, if the position of the currently connected reference station and the position of the reference station at the time of field registration are written in text only, as in the past, the operator may have trouble making a decision. In this regard, as in this embodiment, by displaying both positions on the map as shown in FIG. 8, the operator can intuitively know which portable reference station should be moved to which installation location. can be judged.

Note that the display control unit 83 of this embodiment is configured to display all the reference stations existing on the screen on the display unit 73, but only the currently connected reference station and the reference station at the time of field registration are displayed on the display unit 73. It may be a configuration. Furthermore, since the reference station at the time of field registration is the most important, the display control unit 83 may be configured to display only the reference station at the time of field registration on the display unit 73.

Further, by selecting the reference station icon 106, a details window 107 is displayed. The details window 107 displays identification information, location (latitude and longitude), etc. of this reference station. Further, if the selected reference station icon 106 is the reference station at the time of field registration, the field registration date and time is further displayed. Note that the information displayed in the details window 107 may be configured to be displayed all the time.

Next, the control unit 80 (determination unit 87) determines whether the currently connected reference station matches the reference station at the time of field registration (S205). This determination is made by comparing the information regarding the reference station registered at the time of field registration with the information received from the currently connected reference station. The determination unit 87 may, for example, compare the identification information of both reference stations, or may compare the installation positions of both reference stations.

If the determination unit 87 determines that the currently connected reference station and the reference station at the time of field registration do not match, the control unit 80 (display control unit 83) displays a warning message to that effect in the message window 108 (S206 , Figure 8). Further, the display control unit 83 displays a connection switching button 107a in the reference station details window 107 at the time of field registration (S206). Note that this warning message may be displayed in a location other than the message window 108, and the connection switching button 107a may be displayed in a location other than the details window 107.

Here, while it is easy to change the connected reference station to a fixed reference station, changing the connected reference station to a portable reference station requires different processing (for example, the process of moving the portable reference station, the process of moving the portable reference station, Processing to start up the reference station or other settings, etc.) may be necessary. Therefore, the display control unit 83 is configured to determine whether or not the reference station can be changed only through the processing of the rice transplanter 1 and the wireless communication terminal 7, and display the connection switching button 107a only when it is possible. It's okay. Furthermore, the display control unit 83 may add to the condition for displaying the connection switching button 107a that a usable reference station is located at the position of the reference station at the time of field registration.

Next, the control unit 80 (reference station setting unit 85) determines whether or not the connection switching button 107a has been operated by the operator (S207), and if it is determined that the connection switching button 107a has been operated, the control unit 80 (standard station setting unit 85) selects the reference station to be connected. Change to the reference station at the time of field registration (S208). With this process, the currently connected reference station matches the reference station at the time of field registration, so the control unit 80 (display control unit 83) displays a message to that effect in the message window 108 (S209, FIG. 9). Note that even if it is determined in step S205 that the currently connected reference station and the reference station at the time of field registration match, the process of step S209 is performed.

As described above, the reference station display system 100 of this embodiment includes the position acquisition section 64, the area registration section 86, and the display control section 83. The position acquisition unit 64 acquires the position of the rice transplanter 1 for autonomously traveling the rice transplanter 1 along the travel route created in the travel area based on the positioning correction information acquired from the first reference station. The area registration unit 86 acquires a position used to specify the shape of the driving area based on the positioning correction information acquired from the second reference station, and registers the driving route. The display control unit 83 performs control to display a map and the position of the second reference station on the map on the display unit 73 when making settings regarding the autonomous running of the rice transplanter 1.

This allows the position of the second reference station to be displayed on the map, so even if the positions of the first and second reference stations are different, the operator can intuitively determine the location where the first reference station should be set. can be grasped.

Further, the reference station display system 100 of this embodiment includes a determination unit 87 that determines whether the positions of the first reference station and the second reference station match. When the determining unit 87 determines that the position of the first reference station and the position of the second reference station do not match, the display control unit 83 further determines that the position of the first reference station and the position of the second reference station do not match. Control is performed to display a warning message indicating this on the display unit 73.

Thereby, the operator can easily grasp whether the position of the first reference station and the position of the second reference station are different.

In addition, the display control unit 83 of the reference station display system 100 of the present embodiment further displays the map and the position of the first reference station on the map on the display unit 73 when setting the rice transplanter 1 to run autonomously. Control the display.

Thereby, the operator can easily grasp whether the position of the first reference station and the position of the second reference station are different. Furthermore, if the first reference station is portable, the operator can easily know where to move the first reference station.

Further, in the reference station display system 100 of the present embodiment, the position of the first reference station and the position of the second reference station do not match, the reference station exists at the position of the second reference station, and the switching operation is not performed. It is preferable to include a reference station setting unit 85 that performs a process of switching the position of the first reference station to match the position of the second reference station when the position of the first reference station is detected.

This allows the position of the first reference station to match the position of the second reference station with simple processing.

The reference station display system 100 of this embodiment also includes a fixed station information acquisition section 82, a display control section 83, a reference station selection section 84, a position acquisition section 64, and an area registration section 86. The fixed station information acquisition unit 82 acquires the position information and communication range of a fixed reference station, which is a reference station whose location is fixed. The display control unit 83 controls displaying the position of the fixed reference station and the communication range of the fixed reference station on the map on the display unit 73 together with the map including the farm field. The reference station selection unit 84 selects, as a selection reference station, a fixed reference station within which the field to be registered in the driving area is within the communication range, or accepts selection of the selection reference station. The position acquisition unit 64 acquires the position of the rice transplanter 1 for autonomously traveling the rice transplanter 1 along the travel route created in the travel area based on the positioning correction information acquired from the selection reference station. The area registration unit 86 acquires a position used to specify the shape of the driving area based on the positioning correction information acquired from the selection reference station, and registers the driving route.

This displays the position, communication range, and field of the fixed reference station on the map, allowing the operator to intuitively select a fixed reference station (i.e., selected reference station) that can communicate throughout the field to be registered as the driving area. can. Furthermore, even if the reference station selection section makes the selection, the operator can intuitively confirm whether an appropriate fixed reference station has been selected.

Although the preferred embodiments of the present invention have been described above, the above configuration can be modified as follows, for example.

In the above embodiment, the position of the reference station, etc. is displayed on the display unit 73 of the wireless communication terminal 7, but another device (for example, a display unit provided in the rice transplanter 1 or another terminal owned by the operator, etc.) The configuration may be such that the information is displayed in

In the above embodiment, the communication range of the reference station is not displayed on the screen for confirming the reference station used in autonomous driving (FIGS. 8 and 9), but the communication range may be displayed as shown in FIG. 5 or the like.

In the embodiment described above, the rice transplanter 1 is connected to a reference station selected based on an operator's instruction or other conditions when autonomous running is set. On the other hand, if there is a reference station at the time of field registration, the rice transplanter 1 may be configured to be automatically connected to this reference station when autonomous travel is set.

<Additional notes to the invention>
According to a first aspect of the present invention, a reference station display system having the following configuration is provided. That is, this reference station display system includes a position acquisition section, an area registration section, and a display control section. The position acquisition unit acquires the position of the work vehicle for autonomously traveling along the travel route created in the travel area based on the positioning correction information acquired from the first reference station. The area registration unit registers the driving route by acquiring a position used to specify the shape of the driving area based on positioning correction information acquired from a second reference station. The display control section controls displaying a map and the position of the second reference station on the map on the display section when making settings related to autonomous driving of the work vehicle.

This allows the position of the second reference station to be displayed on the map, so even if the positions of the first and second reference stations are different, the operator can intuitively determine the location where the first reference station should be set. can be grasped.

The reference station display system described above preferably has the following configuration. That is, this reference station display system includes a determination unit that determines whether the positions of the first reference station and the second reference station match. When the determination unit determines that the position of the first reference station and the position of the second reference station do not match, the display control unit further determines that the position of the first reference station and the position of the second reference station do not match. control is performed to display a warning on the display section indicating that the

Thereby, the operator can easily grasp whether the position of the first reference station and the position of the second reference station are different.

In the reference station display system, the display control unit further displays a map and the position of the first reference station on the map on the display unit when making settings for autonomously driving the work vehicle. Preferably, control is performed.

Thereby, the operator can easily grasp whether the position of the first reference station and the position of the second reference station are different. Furthermore, if the first reference station is portable, the operator can easily know where to move the first reference station.

In the reference station display system described above, the position of the first reference station and the position of the second reference station do not match, a reference station exists at the position of the second reference station, and a switching operation has been performed. It is preferable to include a reference station setting unit that performs a process of switching the position of the first reference station to match the position of the second reference station when this is detected.

This allows the position of the first reference station to match the position of the second reference station with simple processing.

According to a second aspect of the present invention, a reference station display system having the following configuration is provided. That is, this reference station display system includes a fixed station information acquisition section, a display control section, a reference station selection section, a position acquisition section, and an area registration section. The fixed station information acquisition unit acquires location information and communication range of a fixed reference station that is a reference station whose location is fixed. The display control section controls displaying the position of the fixed reference station and the communication range of the fixed reference station on the map together with a map including the farm field on the display section. The reference station selection unit selects, as a selection reference station, the fixed reference station within which a field to be registered in the driving area is within the communication range, or receives selection of the selection reference station. The position acquisition unit acquires the position of the work vehicle for autonomously traveling along the travel route created in the travel area based on the positioning correction information acquired from the selection reference station. The area registration unit registers the driving route by acquiring a position used to specify the shape of the driving area based on the positioning correction information acquired from the selection reference station.

This displays the position, communication range, and field of the fixed reference station on the map, allowing the operator to intuitively select a fixed reference station (i.e., selected reference station) that can communicate throughout the field to be registered as the driving area. can. Furthermore, even if the reference station selection section makes the selection, the operator can intuitively confirm whether an appropriate fixed reference station has been selected.

1 Rice transplanter (work vehicle)
7 wireless communication terminal 64 position acquisition section 82 fixed station information acquisition section 83 display control section 84 reference station selection section 85 reference station setting section 86 area registration section 87 determination section 100 reference station display system

Claims (4)

comprising a display control unit that displays on a display unit information regarding the position of a reference station used to generate positioning correction information for identifying the position of a work vehicle as an autonomously traveling mobile station ;
The display control unit includes information regarding the position of a first reference station currently connected to the work vehicle among the reference stations, and a second reference station used when registering a driving area in which the work vehicle autonomously travels among the reference stations. and displaying information regarding the position of on the display section.
Reference station display system. The display control unit displays, on the display unit, a determination result as to whether or not the position of the first reference station and the position of the second reference station match.
The reference station display system according to claim 1 . The display control unit displays the position of the reference station on a map displayed on the display unit as information regarding the position of the reference station.
The reference station display system according to claim 1 or 2 . A reference station display method for displaying on a display unit information regarding the position of a reference station used for generating positioning correction information for identifying the position of a work vehicle as an autonomously traveling mobile station, the method comprising:
Information regarding the position of a first reference station among the reference stations currently connected to the work vehicle; information regarding the position of a second reference station among the reference stations used when registering a driving area in which the work vehicle autonomously travels; displaying on the display section,
Reference station display method.