JP2021073449A - Reference station - Google Patents

Abstract

To provide an accurate reference station.SOLUTION: The present invention relates to a reference station which communicates with an autonomously traveling work vehicle such as a tractor. A reference station 60 comprises: a radio communication antenna 64 which performs a radio communication with an autonomously traveling work vehicle 1; a positioning antenna 61 which receives a signal from a positioning satellite; and a communication apparatus 62 which is electrically connected with the radio communication antenna 64 and the positioning antenna 61. In the reference station 60, the radio communication antenna 64 is supported at a higher position than the positioning antenna 61.SELECTED DRAWING: Figure 4

Description

The present invention relates to a reference station that specifies a reference position when the work vehicle is autonomously driven.

In recent years, in order to efficiently and easily carry out farm work in a field, an autonomous traveling system has been developed in which an unmanned work vehicle in which an operator has not appeared is autonomously driven. In such an autonomous traveling system, a reference station installed at a reference point is provided, and both the work vehicle and the reference station acquire satellite positioning information from the positioning satellite to accurately recognize the position of the work vehicle. (See Patent Document 1). The reference station is preferably arranged near the work area of the work vehicle, and is required to be portable, especially in consideration of theft and breakdown. In the field of communication networks for mobile terminals, portable base station devices (access points) that can be easily installed are provided (see Patent Document 2).

Japanese Unexamined Patent Publication No. 2014-08516 Japanese Unexamined Patent Publication No. 2007-259289

However, the portable base station device of Patent Document 2 is intended for communication with a terminal device, and does not communicate with a positioning satellite like a reference station in an autonomous traveling system of a work vehicle. Further, when the reference station in the autonomous traveling system is portable, it is preferable to install the wireless antenna used for communication with the mobile station at a high position in order to widen the communication range with the work vehicle serving as the mobile station.

The present invention is a reference station including a wireless communication antenna that wirelessly communicates with a work vehicle that travels autonomously and a positioning antenna that receives a signal from a positioning satellite, and the wireless communication antenna is supported at a position higher than the positioning antenna. It is to be done.

The present invention is a reference station including a positioning antenna for receiving a signal from a positioning satellite and a communication device connected to the positioning antenna, and the positioning antenna is supported at a higher position than the communication device. You may.

Further, in the reference station of the present invention, the wireless communication antenna may be supported at a higher position than the communication device. Further, the present invention comprises a wireless communication antenna that wirelessly communicates with a work vehicle that travels autonomously, a positioning antenna that receives a signal from a positioning satellite, and a communication device connected to each of the wireless communication antenna and the positioning antenna. The wireless communication antenna may be supported at a position higher than the positioning antenna and higher than the communication device.

A reference aspect of the present invention is a wireless communication antenna that wirelessly communicates with a work vehicle that travels autonomously, a positioning antenna that receives a signal from a positioning satellite, and communication that is electrically connected to each of the wireless communication antenna and the positioning antenna. It is a reference station provided with a device, and the positioning antenna is provided between the wireless communication antennas.

A reference aspect of the present invention is a wireless communication antenna that wirelessly communicates with a working vehicle that travels autonomously, a positioning antenna that receives a signal from a positioning satellite, and communication that is electrically connected to the wireless communication antenna and the positioning antenna, respectively. A reference station including the device, the support rod to which the wireless communication antenna is detachably attached is configured to be removable from above with respect to the support leg, and the support leg is the support rod and the support rod. A communication device fixing portion for fixing the communication device is provided below the connecting portion of the above, and a wireless communication antenna fixing portion for fixing the wireless communication antenna is provided at the upper end of the support rod, while the upper end of the support leg is provided. It has a positioning antenna fixing portion to which the positioning antenna is fixed, and the wireless communication antenna is supported at a position higher than the positioning antenna.

The support leg is configured by having a rod-shaped support stay erected above the pedestal portion and an antenna support bracket provided with the positioning antenna fixing portion installed at the upper end of the support stay. A tubular support rod holding portion parallel to the support stay is attached to the bracket together with the positioning antenna fixing portion, and the support rod is inserted into the support rod holding portion to cause the support rod. May be biasedly supported with respect to the support stay.

The antenna support bracket has a two-stage structure that is penetrated and fixed to the support stay, and the positioning antenna fixing portion is provided on the upper stage of the antenna support bracket.
While supporting the positioning antenna, the communication device fixing portion is provided in the lower stage of the antenna support bracket, and the communication device is suspended and supported via the communication device support bracket, and the support rod holding portion is supported by the support rod holding portion. The upper and lower stages of the antenna support bracket may be connected to each other on the side of the support stay.

A reference aspect of the present invention is a wireless communication antenna that wirelessly communicates with a work vehicle that travels autonomously, a positioning antenna that receives a signal from a positioning satellite, and communication that is electrically connected to each of the wireless communication antenna and the positioning antenna. A reference station including the device, the support rod to which the wireless communication antenna is detachably attached is configured to be removable from above with respect to the support leg, and the support leg is the support rod and the support rod. A communication device fixing portion to which the communication device is fixed is provided at a position below the connecting portion of the above, and the wireless communication antenna and the positioning antenna are fixed to the upper end of the support rod, and the support leg is the support leg. A support stay connected to the support rod and a plurality of support stays extending radially downward from the support stay are provided, and the communication is provided below the support stay and surrounded by the support stays. A communication device fixing portion that supports the device may be configured.

The communication device is provided with an operation unit on the front surface and a plurality of antenna terminals connected to the wireless communication antenna and each of the positioning antennas via an antenna wire on the lower side surface, and the communication device is provided with a plurality of antenna terminals. The battery for supplying power may be inserted and removed from one left and right side surface of the communication device.

According to the present invention, communication between a reference station and a work vehicle serving as a mobile station can be performed with high accuracy.

Further, according to the present invention, the reference station can be easily set.

It is an overall side view of the robot tractor in an embodiment. It is a top view of a robot tractor. It is a functional block diagram of a robot tractor. It is a perspective view which shows the whole structure of the portable reference station of 1st Embodiment. It is an exploded perspective view which shows the structure of the wireless communication antenna fixing part in the portable reference station. It is an exploded perspective view which shows the structure around the positioning antenna fixed part in the portable reference station. It is a front view which shows the structure of the reference station communication apparatus in the portable reference station. It is the back enlarged view of the portable reference station. It is a perspective view which shows the structure around the positioning antenna fixed part in the portable reference station. It is a perspective view which shows the whole structure of the portable reference station of 2nd Embodiment.

Hereinafter, embodiments embodying the present invention will be described with reference to the drawings. First, a robot tractor 1 (hereinafter, may be simply referred to as a "tractor"), which is an example of a work vehicle according to the present invention, will be described. The tractor 1 includes an aircraft 2 that autonomously travels in the field. Airframe 2
Is detachably provided with a working machine 3 shown by a chain line in FIGS. 1 and 2. The working machine 3
Is used for agricultural work. As the working machine 3, for example, there are various working machines such as a cultivator, a plow, a fertilizer applicator, a grass mower, and a sowing machine. From these, a desired working machine 3 is selected as necessary and the machine body 2 is used. Can be attached to. The machine body 2 is configured so that the height and posture of the mounted work machine 3 can be changed.

In the present specification, the autonomous traveling means that the configuration of the tractor 1 for traveling is controlled by the autonomous traveling control device 51 or the like included in the tractor 1 as shown in FIG. 1 means to run. Further, in the present specification, the autonomous work means that the configuration provided by the tractor 1 for the work is controlled by the autonomous traveling control device 51 or the like, and the tractor 1 performs the work along a predetermined route.

In the following description, a tractor that performs autonomous traveling and autonomous work may be referred to as an "unmanned tractor" or a "robot tractor", and a tractor that travels and performs work by being directly operated by an operator may be referred to as a "manned tractor". .. If part of the farm work is done by an unmanned tractor in the field, the rest of the farm work is done by a manned tractor. Coordinated farm work, sharing farm work with unmanned tractors and manned tractors in a single field
It may be called follow-up work, accompanying work, etc. The above-mentioned cooperative work may include an unmanned tractor performing farm work in one field and a manned tractor performing farm work in another field at the same time.

In the present embodiment, the difference between the unmanned tractor and the manned tractor is the presence or absence of direct operation by the operator, and the configuration as the tractor is common between the unmanned tractor and the manned tractor. That is, even an unmanned tractor can be directly operated by an operator by boarding (boarding) (in other words, it can be used as a manned tractor). Further, even if it is a manned tractor, the operator can get off and perform autonomous traveling and autonomous work (in other words, it can be used as an unmanned tractor).

The configuration of the tractor 1 will be described with reference to FIGS. 1 and 2. As shown in FIG. 1, the body 2 of the tractor 1 is supported by a pair of left and right front wheels 7 and 7 and a rear portion supported by a pair of left and right rear wheels 8 and 8. The front wheels 7 and 7 and the rear wheels 8 and 8 form a traveling portion.

A bonnet 9 is arranged at the front of the machine body 2. Tractor 1 in this bonnet 9
The engine 10 and the fuel tank (not shown), which are the driving sources of the above, are housed in the engine 10. The engine 10 can be configured by, for example, a diesel engine, but is not limited to this, and may be configured by, for example, a gasoline engine. Further, as the drive source, an electric motor may be used in addition to or instead of the engine.

Behind the bonnet 9, a cabin 11 on which the operator board is arranged. Inside the cabin 11, a steering handle 12 for the operator to steer, a seat 13 on which the operator can sit, and various operating devices for performing various operations are mainly provided. There is. However, the agricultural work vehicle is not limited to the one with the cabin 11, and may not be equipped with the cabin 11.

Although not shown, examples of the above-mentioned operating device include a monitor device, a throttle lever, and the like.
Examples thereof include a main shift lever, an elevating lever, a PTO switch, a PTO shift lever, and a plurality of hydraulic shift levers. These operating devices are arranged near the seat 13 or near the steering wheel 12.

The monitoring device is configured to be able to display various information of the tractor 1. The throttle lever sets the rotation speed of the engine 10. The main shift lever is operated to change the gear ratio of the transmission case 22. The elevating lever is a working machine 3 mounted on the machine body 2.
The height of the is raised and lowered within a predetermined range. The PTO switch is the mission case 2
The power transmission to the PTO shaft (power take-off shaft) protruding outward from the rear end side of No. 2 is continuously operated. That is, when the PTO switch is in the ON state, power is transmitted to the PTO shaft to rotate the PTO shaft and drive the work equipment 3, while when the PTO switch is in the OFF state, the power to the PTO shaft is cut off. The PTO shaft does not rotate and the work machine 3 stops. The PTO shift lever performs a change operation of the power input to the work machine 3, specifically, a shift operation of the rotation speed of the PTO shaft. The flood control lever switches and operates the flood control external take-out valve.

As shown in FIG. 1, a chassis 20 constituting the frame is provided at the lower part of the airframe 2. The chassis 20 is composed of an airframe frame 21, a mission case 22, a front axle 23, a rear axle 24, and the like.

The airframe frame 21 is a support member at the front portion of the tractor 1, and supports the engine 10 directly or via an anti-vibration member or the like. The mission case 22 changes the power from the engine 10 and transmits it to the front axle 23 and the rear axle 24. The front axle 23 is configured to transmit the power input from the mission case 22 to the front wheels 7. The rear axle 24 is configured to transmit the power input from the mission case 22 to the rear wheels 8.

As shown in FIG. 3, the tractor 1 is a vehicle as a control unit for controlling the operation of the machine body 2 (forward, reverse, stop, turn, etc.) and the operation of the work machine 3 (elevation, drive, stop, etc.). The engine control device 15, the transmission control device 16, and the work machine control device 17 that can communicate with each other via the bus line 18 are provided. The engine control device 15 is electrically connected to the common rail device 41 as a fuel injection device provided in the engine 10, and the transmission control device 1
6 is electrically connected to a transmission 42 including a hydraulic transmission for shifting the power from the engine 10. Further, the work equipment control device 17 is electrically connected to the work equipment elevating actuator 44.

The common rail device 41 injects fuel into each cylinder of the engine 10. In this case, the fuel injection valve of the injector for each cylinder of the engine 10 is controlled to open and close by the control device 4, so that the high-pressure fuel pumped from the fuel tank to the common rail device 41 by the fuel supply pump is sent from each injector to the engine 10. The injection pressure, injection timing, and injection period (injection amount) of the fuel injected into each cylinder and supplied from each injector are controlled with high accuracy.

Specifically, the transmission 42 is, for example, a movable slanted plate type hydraulic continuously variable transmission, which is provided in the transmission case 22. By controlling the transmission 42 by the control device 4 and appropriately adjusting the angle of the swash plate, the gear ratio of the transmission case 22 can be set to a desired gear ratio.

The elevating actuator 44 moves the work machine 3 to a retracted position (position where farm work is not performed) or a work position (position where farm work is performed) by operating, for example, a three-point link mechanism that connects the work machine 3 to the machine body 2. It raises or lowers to either. By controlling the elevating actuator 44 by the control device 4 and appropriately elevating and lowering the work machine 3, for example, the work machine 3 can perform farm work at a desired height in the field area.

Further, the engine control device 15 includes a rotation speed sensor 31 that detects the rotation speed of the engine 10, a vehicle speed sensor 32 that detects the rotation speed of the rear wheels 8, and a rotation angle (steering angle) of the steering wheel 12.
Sensors such as the steering angle sensor 33 that detects the above are also electrically connected. The detected values of these sensors are converted into detection signals and transmitted to the engine control device 15.

In the tractor 1 provided with the control devices 15 to 17 as described above, the control devices 15 to 17 communicate with each other via the vehicle bus line 18 based on various operations of the operator boarded in the cabin 11, and the tractor 1 By controlling each part (machine 2, work machine 3, etc.), it is possible to carry out farm work while traveling in the field. In addition, the tractor 1 of the embodiment can be autonomously driven based on a predetermined control signal output by the remote control device 46, for example, even if the operator is not on board.

Specifically, as shown in FIG. 3, the tractor 1 has various configurations such as an autonomous travel control device 51 for enabling autonomous travel. Further, the tractor 1 is provided with various configurations such as a positioning antenna 6 necessary for acquiring the position information of itself (airframe) based on the positioning system. With such a configuration, the tractor 1 can acquire its own position information based on the positioning system and autonomously travel on the field.

Next, the configuration included in the tractor 1 for autonomous traveling will be described in detail. Specifically, as shown in FIGS. 1 and 3, the tractor 1 includes an autonomous travel control device 51 and a steering control device 52.
, Positioning surveying device 53, wireless communication router (low power data communication device) 54, remote control receiver (
Specified low power wireless device) 55, steering actuator 43, positioning antenna 6, wireless communication antenna unit 48, and the like.

The autonomous travel control device 51 and the steering control device 52 are configured to be able to communicate with each other with the engine control device 15, the transmission control device 16, and the work equipment control device 17 via the vehicle bus line 18. Further, the autonomous travel control device 51 passes through the positioning survey device 53, the wireless communication router 54, and the wireless communication router 54 via the autonomous travel bus line 56 in the autonomous travel communication system which is a system different from the control communication system by the vehicle bus line 18. It is possible to communicate with each of the remote control receivers 55.

The steering actuator 43 is provided, for example, in the middle of the rotation shaft (steering shaft) of the steering handle 12, and adjusts the rotation angle (steering angle) of the steering handle 12. When the tractor 1 travels on a predetermined route (as an unmanned tractor)
The steering control device 52 calculates an appropriate rotation angle of the steering handle 12 so that the tractor 1 travels along the path, and sets the steering actuator 43 so that the steering handle 12 rotates at the calculated rotation angle. Control. Further, the steering control device 52 is the engine control device 15, the transmission control device 16, and the work machine control device 17 via the vehicle bus line 18.
By communicating with each of them, steering according to the vehicle speed of the tractor 1 can be executed. The steering actuator 43 may not adjust the rotation angle of the steering handle 12, but may adjust the steering angle of the front wheels 7 of the tractor 1. In that case, the steering handle 12 may be turned. Does not rotate.

The positioning antenna 6 receives a signal from a positioning satellite that constitutes a positioning system such as a satellite positioning system (GNSS). As shown in FIG. 1, the positioning antenna 6 is arranged on the upper surface of the roof 14 in the cabin 11. The signal received by the positioning antenna 6 is input to the positioning surveying device 53 shown in FIG. 3, and the position information of the tractor 1 (strictly speaking, the positioning antenna 6) in the positioning surveying device 53 is used as, for example, latitude / longitude information. It is calculated. The position information calculated by the positioning surveying device 53 is acquired by the autonomous traveling control device 51 and used for controlling the tractor 1.

The positioning survey device 53 is electrically connected to the first wireless communication antenna 48a in the wireless communication antenna unit 48, and is transmitted through the first wireless communication network (for example, a wireless communication network in the 920 MHz band) by the specified low power radio. Communicates with a reference station (portable reference station) 60, which will be described later. As shown in FIG. 1, the wireless communication antenna unit 48 is arranged on the upper surface of the roof 14 in the cabin 11. The positioning surveying device 53 communicates with the reference station 60 installed at a position close to the field via the first wireless communication antenna 48a, so that the reference station 6
The satellite positioning information of the tractor 1 (mobile station) is corrected by the correction information from 0, and the current position of the tractor 1 is obtained. For example, DGPS (Differential GPS Positioning), RTK Positioning (
Various positioning methods such as real-time kinematic positioning) can be applied.

In the present embodiment, for example, RTK positioning is applied, and in addition to the tractor 1 on the mobile station side being provided with the positioning antenna 6, the reference station 60 having the reference station positioning antenna 61 is provided. The reference station 60 is arranged at a position (reference point) that does not interfere with the running of the tractor 1, such as around the field. The position information of the reference point, which is the installation position of the reference station 60, is set in advance. The reference station 60 is provided with a reference station communication device 62 capable of communicating via a first wireless communication network constructed between the positioning surveying device 53 of the tractor 1 and the communication device by the first wireless communication antenna 48a.

In RTK positioning, the carrier phase (satellite positioning information) from the positioning satellite 63 is measured by both the reference station 60 installed at the reference point and the positioning antenna 6 of the tractor 1 on the mobile station side for which position information is to be obtained. ing. The reference station 60 generates correction information including the measured satellite positioning information and the position information of the reference point every time the satellite positioning information is measured from the positioning satellite 63 or every time the setting cycle elapses, and the reference station communication device 62 Is transmitting correction information to the first wireless communication antenna 48a of the tractor 1. The positioning surveying device 53 of the tractor 1 (corresponding to a mobile station) corrects the satellite positioning information measured by the positioning antenna 6 by using the correction information transmitted from the reference station 60, and corrects the current position information of the tractor 1 (corresponding to the mobile station). For example, latitude information / longitude information) is required.

In this embodiment, a high-precision satellite positioning system using the GNSS-RTK method is used, but the present invention is not limited to this, and other positioning systems are used as long as high-precision position coordinates can be obtained. You may. GNSS-RTK is a positioning method that is corrected and improved in accuracy based on the information of a reference station whose position is known, and there are a plurality of methods depending on the method of distributing information from the reference station. Since the present invention does not depend on the GNSS-RTK method, details are omitted in this embodiment.

Further, the positioning surveying device 53 can measure not only the position information of the tractor 1 (aircraft 2) by satellite positioning but also the tilt angle information of front, back, left and right by inertial surveying. The tilt angle information measured by the positioning surveying device 53 is acquired by the autonomous traveling control device 51 in a state of being associated with position information (latitude / longitude information), and is used for controlling the tractor 1. The positioning surveying device 53 can also measure the height position of the positioning antenna 6 with respect to the field scene, and by extension, the vehicle height of the tractor 1 (airframe 2).

The wireless communication antenna unit 48 is arranged on the upper surface of the roof 14 of the cabin 11 of the tractor 1, and is a first unit that communicates and connects with the first to third wireless communication networks having different frequency bands.
The third wireless communication antennas 48a to 48c are provided. The first wireless communication network has, for example, 920 MHz, which has a high data transmission speed, in order to communicate the positioning information by the reference station 60.
It is constructed by a specific low power radio of the band. The second wireless communication network is constructed by, for example, a 2.4 GHz band low power data communication system or the like so that data having a large data capacity such as image data can be communicated at high speed. Since the third wireless communication network has a smaller amount of data transmission than the second wireless communication network, it is constructed, for example, by a specific low power radio in the 400 MHz band.

The first wireless communication antenna 48a is electrically connected to the positioning survey device 53, the second wireless communication antenna 48b is electrically connected to the wireless communication router 54, and the third wireless communication antenna 48c is It is electrically connected to the remote control receiver 55. 2nd wireless communication antenna 48
The wireless communication router 54 connected to b is connected to the tractor 1 through the second wireless communication network.
It communicates with a remote control device 70 capable of displaying an image operated by an external operator. The wireless communication router 54 receives the control signal from the remote control device 70 and transmits it to the autonomous travel control device 51 via the autonomous travel bus line 56. The remote controller 55 connected to the third wireless communication antenna 48c communicates with the emergency stop remote controller 71 operated by an operator outside the tractor 1 through the third wireless communication network. The remote controller receiver 55 receives the control signal from the emergency stop remote controller 71 and transmits it to the autonomous travel control device 51 via the autonomous travel bus line 56.

Specifically, the remote control device 70 is configured as a tablet-type personal computer provided with a touch panel. The operator can confirm by referring to the information displayed on the touch panel of the remote control device 70 (for example, the field information required for autonomous driving). Further, the operator operates the remote control device 70 to transmit a control signal for controlling the tractor 1 to the autonomous travel control device 51 of the tractor 1. The remote control device 70 of the embodiment is not limited to the tablet-type personal computer, and instead, for example, a notebook-type personal computer can be configured. Or
When a manned tractor (not shown) is carried along with an unmanned tractor 1, the monitoring device mounted on the manned tractor can be used as a remote control device.

The autonomous travel control device 51 calculates a travel route in the field region (travel region) based on the instruction of the operator using the remote control device 70. Then, the autonomous travel control device 51 confirms the position of the tractor 1 on the travel route by comparing the calculated travel route with the position information of the tractor 1, and steers the tractor 1 in consideration of the inclination angle information and the like. The angle and running speed are calculated and communicated with each of the control devices 15 to 17, 52 through the vehicle bus line 18. As a result, the tractor 1 can perform farm work by the work machine 3 while autonomously traveling along the traveling route. As described above, the route in the field area (traveling area) in which the tractor 1 autonomously travels may be referred to as a "traveling route" in the following description. In addition, the tractor 1 in the field area (running area)
The area (work area) to be farmed by the work machine 3 is defined as the area excluding the headland and the margin from the entire field area, and when the operator or the like executes the registration work of the registration points described later. It is set based on these registration points and the working width of the tractor 1.

The emergency stop remote controller 71 is a remote controller switch for emergency stopping the tractor 1, and is owned by an operator who operates the remote control device 70. When the switch is operated by the operator, an emergency stop control signal is transmitted. Send. Remote control for emergency stop 71
Has an emergency stop button 72 protruding from the surface of the remote controller body, and when the operator presses the emergency stop button 72, an emergency stop control signal is transmitted. Furthermore, the remote controller for emergency stop 7
Reference numeral 1 denotes a structure that can be detachably attached to the remote control device 70, and a strap (string-shaped member) can be attached so as to hang it on the operator's neck and bring it into close contact with the body.

The autonomous travel control device 51 communicates with the engine control device 15 based on the operator's operation on the emergency stop button 72 on the emergency stop remote controller 71, and the common rail device 4
In addition to stopping the fuel injection in No. 1, the transmission 42 is set to the neutral state by communication with the transmission control device 16, and then the braking operation by the brake device 26 described later is applied. At this time, the autonomous travel control device 51 controls the steering actuator 43 so that the steering wheel 12 is in the neutral position by communicating with the steering control device 52, and directs the left and right front wheels 7 and 7 in the straight-ahead direction. May be.

The autonomous travel control device 51 has a communication state with the reference station 60 in the positioning survey device 53 (communication state in the first communication network) and a communication state with the remote control device 70 in the wireless communication router 54 (communication state in the second communication network). , And the communication state (communication state in the third communication network) with the emergency stop remote controller 71 by the remote controller receiver 55 is confirmed via the autonomous traveling bus line 56. When the autonomous travel control device 51 confirms that the communication state in any of the first to third communication networks has been cut off, the autonomous travel control device 51 communicates with the engine control device 15, the transmission control device 16, and the like to obtain the tractor 1. Emergency stop of autonomous driving. If the positioning surveying device 53, the wireless communication router 54, and the remote control receiver 55 do not receive the signal from the communication partner for a predetermined period or more, it is determined that the communication with the communication partner is cut off.

Further, the tractor 1 has a pair of left and right brake devices 26 that apply brakes to the left and right rear wheels 8 and 8 by two systems of operation and automatic control of a brake pedal and a parking brake lever.
, 26 are provided. That is, both the left and right braking devices 26 and 26 are configured to apply the brakes to both the left and right rear wheels 8 and 8 by operating the brake pedal (or parking brake lever) in the braking direction. Further, when the rotation angle of the handle 12 becomes equal to or more than a predetermined angle, the brake device 26 for the rear wheel 8 on the inside of the turning is instructed by the transmission control device 16.
Is configured to automatically brake (so-called autobrake).

Further, the tractor 1 is equipped with an obstacle sensor 35 that detects whether or not there is an obstacle in front, side or rear. The obstacle sensor 35 is composed of a laser sensor, an ultrasonic sensor, and the like, recognizes obstacles existing in front, side, and rear of the tractor 1 and generates a detection signal. Further, the tractor 1 is attached with a camera 36 for photographing the front, side, and rear. The obstacle sensor 35 and the camera 36 are configured to be capable of wireless communication with the wireless communication router 54, and transmit an obstacle detection signal and an image signal to the autonomous travel control device 51 via the wireless communication router 54 and the autonomous travel bus line 56. To do. Then, the wireless communication router 54 transmits the image signal from the camera 36 to the remote control device 70 through the second wireless communication network, so that the remote control device 70 can display the image around the tractor 1. The obstacle sensor 35 and the camera 36 may be connected to the autonomous travel control device 51 by wire via the autonomous travel bus line 56.

The portable reference station 60 includes a reference station wireless communication antenna 64 that wirelessly communicates with a tractor (working vehicle) 1 that travels autonomously, a reference station positioning antenna 61 that receives a signal from a positioning satellite 63, and a wireless communication antenna 64 and a positioning antenna 61, respectively. And an electrically connected reference station communication device 62. The portable reference station 60 is installed at a reference point for specifying the position of the tractor (working vehicle) 1 which is a mobile station. The portable reference station 60 is configured to be disassembled into a plurality of members, and each disassembled member is configured to have a size that can be transported by the tractor 1.

The portable reference station 60 installed at the reference point by assembling the disassembly member sends the signal from the positioning satellite 63 received by the reference station positioning antenna 61 to the reference station communication device 62, and sends the signal from the reference station communication device 62 to the reference station communication device 6.
In 2, correction information including the measured satellite positioning information and the position information of the reference point is generated. Then, the portable reference station 60 transmits the correction information generated by the reference station communication device 62 from the reference station wireless communication antenna 64 that communicates with the first wireless communication network capable of communicating with the first wireless communication antenna 48a of the tractor 1.

As a wireless communication terminal for operating the unmanned tractor 1 which is an autonomous traveling work vehicle, a remote control device (terminal device main body) 70 for executing wireless communication with the tractor 1 and an emergency stop remote controller 71 are provided. Then, the remote control device 70 and the emergency stop remote controller 71 each execute communication with the tractor 1 by wireless communication networks having different communication methods. Further, the remote control device 70 is provided with a display capable of operating a touch panel, and the emergency stop remote controller 71 is configured to be detachably attached to the outer frame of the remote control device 70. Further, the emergency stop remote controller 71 includes an emergency stop button 72 for stopping the autonomous traveling of the tractor 1 and a start button 73 for starting wireless communication with the tractor 1.

Next, the configuration of the portable reference station 60 in the present embodiment will be described below with reference to FIGS. 4 to 9. As shown in FIGS. 4 to 9, the support rod 65 to which the reference station wireless communication antenna 64 is detachably attached is configured to be removable from above with respect to the support leg 66. The support leg 66 has a communication device fixing portion 601 (for example, see FIG. 6) to which the reference station communication device 62 is fixed at a position below the connecting portion with the support rod 65.

Since the communication device fixing portion 601 is provided at a position below the connecting portion of the support leg 66 with the support rod 65, the reference station communication device 62, which is a heavy component, is arranged in the lower portion of the portable reference station 60. Since it can be done, the center of gravity of the portable reference station 60 is on the lower side. Therefore, even if the height of the portable reference station 60 is increased, the portable reference station 60 can be erected in a stable posture at the reference point, and it is possible to avoid damage to the equipment due to a fall and an emergency stop of autonomous traveling. Further, since the center of gravity of the portable reference station 60 is on the lower side, the reference station wireless communication antenna 64 can be installed at a higher position by the support rod 65, so that communication with the tractor 1 serving as a mobile station can be performed in a relatively wide range. Therefore, it is possible to suppress the interruption of communication due to a shield.

Wireless communication antenna fixing portion 6 to which the reference station wireless communication antenna 64 is fixed to the upper end of the support rod 65
Has 02. On the other hand, it has a positioning antenna fixing portion 603 in which the reference station positioning antenna 61 is fixed to the upper end of the support leg 66. As a result, in the portable reference station 60, the reference station wireless communication antenna 64 is supported at a position higher than the reference station positioning antenna 61.

The wireless communication antenna fixing portion 602 is fixed to the upper end of the support rod 65 by welding or the like, and is formed in a plate shape extending left and right around the support rod 65. That is, the upper end of the support rod 65 is formed in a substantially T shape by the wireless communication antenna fixing portion 602. Further, the reference station wireless communication antenna 64 is fixed to the plate-shaped wireless antenna support bracket 610 at both left and right ends by magnetism.

The wireless antenna support bracket 610 to which the pair of left and right reference station wireless communication antennas 64 are attached to both ends is wider than the left and right width of the wireless communication antenna fixing portion 602. Then, the central region of the wireless antenna support bracket 610 is screwed to the wireless communication antenna fixing portion 602 at the upper end of the support rod 65 with a bolt 611, so that the wireless antenna support bracket 610 is fixed to the support rod 65. Since the reference station wireless communication antenna 64 has a configuration in which the reference station wireless communication antenna 64 is magnetically fixed to the metal wireless antenna support bracket 610 by attaching a magnet to the back surface, the reference station wireless communication antenna 64 can be easily attached to and detached from the wireless antenna support bracket 610.

The support leg 66 is configured such that a rod-shaped support stay 605 is erected above the pedestal portion 604 and a positioning antenna support bracket 606 provided with a positioning antenna fixing portion 603 is installed at the upper end of the support stay 605. .. A tubular support rod holding portion 607 parallel to the support stay 605 is attached to the positioning antenna support bracket 606 together with the positioning antenna fixing portion 603, and the support rod 65 is inserted into the support rod holding portion 607. Then, the support rod 65 is biased and fixed with respect to the support stay 605.

The positioning antenna support bracket 606 has a two-stage structure that is penetrated and fixed to the support stay 605. Positioning antenna fixing part 60 on the upper stage of the positioning antenna support bracket 606
3 is provided to support the reference station positioning antenna 61. On the other hand, a communication device fixing portion 601 is provided in the lower stage of the positioning antenna support bracket 606, and the reference station communication device 62 is suspended and supported via the communication device support bracket 67. The support rod holding portion 607 is a support stay 6
The upper and lower stages of the positioning antenna support bracket 606 are connected and provided on the 05 side.

The positioning antenna support bracket 606 is formed in a substantially U shape when viewed from the side, and the connecting base 612 of the reference station positioning antenna 61 is bolted to the positioning antenna fixing portion 603 in the upper part.
It is fastened and fixed by 13. The connecting base 612 has a structure in which a fixing bolt is projected upward at the center, and the reference station positioning antenna 61 is detachably fixed to the bolt of the connecting base 612. On the other hand, the connecting portion 614 of the communication device support bracket 67 is fastened and fixed to the communication device fixing portion 601 in the lower portion by a thumbscrew 615. The upper part of the positioning antenna support bracket 606 (positioning antenna fixing part 603) is fixed to the upper end of the support stay 605, and the lower part of the antenna support bracket (communication device fixing part 601) is the middle part of the support stay 605. It is fixed to.

The communication device support bracket 67 is formed in a U shape in a plan view, and the communication device fixing plate 616 to which the reference station communication device 62 is fixed is suspended and supported at the front edge portion thereof. The communication device support bracket 67 constitutes the connecting portion 614 by extending the left and right ends of the front edge portion to be connected to the communication device fixing plate 616 toward the rear. With this configuration, the communication device support bracket 67 has a notch in the communication device support bracket 67 when connecting the pair of left and right connecting portions 614 extending rearward to the wireless communication antenna fixing portion 602 of the positioning antenna support bracket 606. The support stay 605 will be positioned in the portion. Therefore,
When the communication device support bracket 67 is connected to the positioning antenna support bracket 606 with a thumbscrew 615, the support stay 605 and the communication device support bracket 67 do not interfere with each other.

On the front surface of the reference station communication device 62, an operation unit by a key switch 621, a power switch 622, and the like and a display unit by a liquid crystal display 623 are provided. Antenna terminals 624 and 625 connected to the reference station positioning antenna 61 and the reference station wireless communication antenna 64 via the antenna lines 608 and 609 are provided on the lower side surface of the reference station communication device 62, respectively. The battery 626 that supplies power to the reference station communication device 62 is one aspect of the reference station communication device 62 (
In this embodiment, it can be inserted and removed from the battery mounting port 627 provided on the left side).

The reference station communication device 62 is fastened to a communication device fixing plate 616 whose back surface has a substantially U-shape in side view with its upper and lower edges bent. A side cover 617 covering the side surface of the reference station communication device 62 is fixed to the installation surface of the reference station communication device 62 on the communication device fixing plate 616. The side cover 617 is formed in a U-shape in front view so as to cover the upper side surface and the left and right side surfaces of the reference station communication device 62, and the lower end portion thereof is fixed to the bent surface of the lower edge of the communication device fixing plate 616. ing. Further, the front cover 618 erected the lower portion of the side cover 617 on the left and right, and the antenna terminals 624 and 625 provided on the lower surface of the reference station communication device 62 are covered by the front cover 618. The front cover 618 includes a key switch 621 and a power switch 6.
It is installed below the operation unit of 22 and the like and the display unit of the liquid crystal display 623.

The side cover 617 is provided with a battery insertion notch 628 on the upper side of the left side surface. That is,
The side cover 617 is provided with a battery insertion notch 628 at a position corresponding to the battery mounting port 627 installed on the left side surface of the reference station communication device 62. Therefore, the reference station communication device 62
The battery 626 can be inserted and removed from the battery mounting port 627 even when the battery is covered with the side cover 617.

The antenna wire 608 connected to the reference station positioning antenna 61 is inserted from the antenna wire insertion opening 629 opened on the lower back side of the communication device fixing plate 616 and connected to the antenna terminal 624 on the lower surface of the reference station communication device 62. .. Similarly, a pair of left and right reference station wireless communication antennas 64
The two antenna wires 609 connected to the antenna wire 609 are extended downward so as to sandwich the support stay 605, and are inserted from the antenna wire insertion opening 629 of the communication device fixing plate 616 to be inserted from the lower surface of the reference station communication device 62. It is connected to each of the two antenna terminals 625.

The two antenna wires 609 are restrained by a pair of left and right antenna wire fixing members 630 installed at the left and right positions of the wireless antenna support bracket 610 on the support leg 66, so that the two antenna wires 608 are left and right. Can be stretched in a state of being separated from each other. The antenna wire fixing member 630 is installed at the left and right ends of the communication device fixing portion 601 of the positioning antenna support bracket 606, for example, so as to be fixed at positions separated from each other to the left and right.

Since the portable reference station 60 is configured to be disassembled into each of the support leg 66, the support rod 65, the reference station positioning antenna 61, the reference station wireless communication antenna 64, and the reference station communication device 62, the tractor 1 serving as a mobile station and the like are separated. It is possible to load the disassembled portable reference station 60 on the transport vehicle and transport it to a work place (field) where autonomous traveling is executed.

As an example of disassembling the portable reference station 60, the support rod 65 was removed from the support leg 66, and the support leg 66 to which the reference station positioning antenna 61 and the reference station communication device 62 were fixed and the reference station wireless communication antenna 64 were fixed. The support rod 65 and the support rod 65 are disassembled. Then, the antenna wire 609 is removed from the antenna terminal 625 of the reference station communication device 62, and the reference station wireless communication antenna 64 is removed from the wireless antenna support bracket 610 to separate the reference station wireless communication antenna 64 from the support rod 65. Further, by removing the thumbscrew 615, the reference station communication device 62 is disassembled from the support leg 66 together with the communication device support bracket 67. Further, the reference station positioning antenna 61 is disassembled from the support leg 66 by removing the reference station positioning antenna 61 from the connecting base 612 fixed to the upper end of the support stay 605 of the support leg 66.

Next, with reference to FIG. 10, regarding the configuration of the portable reference station 60A according to the second embodiment,
This will be described below. As shown in FIG. 10, in the portable reference station 60A of the present embodiment, the reference station positioning antenna 61 and the reference station wireless communication antenna 64 are fixed to the upper ends of the support rod 65. The support leg body 660 includes a support stay 661 connected to the support rod 65, and a plurality of support leg stays 662 extending downwardly about the support stay 661. Then, a communication device fixing portion 663 that supports the communication device 62 is configured below the support stay 661 and surrounded by the support leg stay 662.

In the present embodiment, for example, the support leg 660 and the support rod 65 are disassembled by pulling out the support rod 65 from the support stay 661. Further, by removing the communication device 62 mounted and fixed on the communication device fixing portion 663, the support leg stay 662 of the support leg body 660 can be folded.

The present invention is not limited to the above-described embodiment, and can be embodied in various aspects. The configuration of each part is not limited to the illustrated embodiment, and various changes can be made without departing from the spirit of the present invention.

1 Robot tractor 2 Aircraft 3 Work equipment 4 Control device 6 Positioning antenna 15 Engine control device 16 Transmission control device 17 Work equipment control device 18 Vehicle bus line 48 Wireless communication antenna unit 48a 1st antenna 48b 2nd antenna 48c 3rd antenna 51 Autonomous travel control device 52 Steering control device 53 Positioning survey device 54 Wireless communication router 55 Remote control receiver 56 Autonomous travel bus line 60 Portable reference station 60A Portable reference station 61 Reference station positioning antenna 62 Reference station communication device 63 Positioning satellite 64 Reference station wireless communication Antenna 65 Support rod 66 Support leg 67 Communication device support bracket 601 Communication device fixing part 602 Wireless communication Antenna fixing part 603 Positioning antenna fixing part 604 Pedestal part 605 Support stay 606 Positioning antenna support bracket 607 Support rod holding part 608 Antenna wire 609 Antenna Wire 610 Wireless antenna support bracket 611 Bolt 612 Connecting base 613 Bolt 614 Connecting part 615 Thumbscrew 616 Communication device fixing plate 617 Side cover 618 Front cover 621 Key switch 622 Power switch 623 LCD display 624 Antenna terminal 625 Antenna terminal 626 Battery 627 Battery mounting Port 628 Notch for battery insertion 629 Antenna wire insertion opening 630 Antenna wire fixing member

Claims (4)

A wireless communication antenna that wirelessly communicates with a work vehicle that travels autonomously,
A positioning antenna that receives signals from positioning satellites and
It is a standard station equipped with
A reference station characterized in that the wireless communication antenna is supported at a position higher than the positioning antenna.
A positioning antenna that receives signals from positioning satellites and
A reference station including a communication device connected to the positioning antenna.
The positioning antenna is
A reference station characterized in that it is supported at a higher position than the communication device.
A wireless communication antenna that wirelessly communicates with a work vehicle that travels autonomously,
A reference station including a communication device connected to the wireless communication antenna.
The wireless communication antenna is
A reference station characterized in that it is supported at a higher position than the communication device.
A wireless communication antenna that wirelessly communicates with a work vehicle that travels autonomously,
A positioning antenna that receives signals from positioning satellites and
A reference station including a wireless communication antenna and a communication device connected to each of the positioning antennas.
The wireless communication antenna is located higher than the positioning antenna and
A reference station characterized in that it is supported at a higher position than the communication device.

Images