| CPC G05D 1/0278 (2013.01) [G05D 1/028 (2013.01); A01D 34/008 (2013.01); A01D 2101/00 (2013.01)] | 8 Claims |
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1. A work machine which includes a global navigation satellite system (GNSS) sensor that detects a GNSS signal and a beacon signal detection sensor that detects a signal of a beacon, and which is a self-propelled work machine that performs work in a work region based on results of detection by the GNSS sensor and the beacon signal detection sensor, the work machine comprising:
a traveling unit configured to cause the work machine to travel;
at least one processor circuit with a memory comprising instructions, that when executed by the processor circuit, cause the at least one processor circuit to:
control driving of the traveling unit;
acquire, from a user, work information at least indicating a work accuracy;
specify, among the work region, a region in which accuracy of specifying a self-position of the work machine based on the GNSS sensor is lower than a reference accuracy corresponding to the work accuracy; and
notify the user of an installation necessity of the beacon based on a result of specification of the region,
before executing the work, set a predetermined parameter that indicates whether it is necessary to update each specified region, and
while executing the work,
change the parameter from its initial value, in a case where the accuracy of the specifying the self-position of the work machine based on the GNSS sensor is lower than the reference accuracy in the first region, and
determine that each specified region needs to be updated in a case where the parameter is changed,
wherein,
the GNSS sensor detects the GNSS signal as detection intensity of each region among the work region,
the specifying the region further comprises:
setting a reference intensity based on the work accuracy,
specifying a region in which the detection intensity is equal to or higher than the reference intensity as a first region, and
specifying a region in which the detection intensity is lower than the reference intensity as a second region,
in a case of executing the work, the driving of the traveling unit is controlled (i) based on the result of detection by the GNSS sensor in the first region, and (ii) based on the result of detection by the beacon signal detection sensor in the second region, and
after a work end time, the instructions, when executed by the at least one processor circuit, further cause the at least one processor circuit to determine whether each specified region needs to be updated (iii) based on the result of detection by the GNSS sensor in the first region, and (iv) based on the result of detection by the beacon signal detection sensor in the second region, and, in a case where at least one region needs to be updated, to send to the user map data indicating a position where a beacon newly needs to be installed.
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