JP2022006696A - Agricultural robot, and support system of agricultural robot - Google Patents

Abstract

To perform efficiently a work of an agricultural robot in a facility.SOLUTION: An agricultural robot includes a traveling body, a work part provided on the traveling body, for performing a work on crops, an optical sensor provided on the traveling body, and a place management part for determining whether the traveling body is positioned in a facility for cultivating crops or not, based on sensing data obtained by the optical sensor. When determined that the traveling body is positioned in the facility by the place management part, the work part performs the work on crops based on the work part.SELECTED DRAWING: Figure 8

Description

The present invention relates to an agricultural robot and a support system for an agricultural robot.

Conventionally, an agricultural robot disclosed in Patent Document 1 is known.
The agricultural robot disclosed in Patent Document 1 is provided with a manipulator capable of harvesting crops on a traveling body.

Japanese Unexamined Patent Publication No. 2011-229406

By the way, crops such as watermelon, melon, and pumpkin are generally cultivated (planted) in various places. Here, even when the crops are cultivated in the facility, the agricultural robot is required to properly work on the crops.
An object of the present invention is to provide an agricultural robot and an agricultural robot support system capable of efficiently performing the work of an agricultural robot in a facility at the time of harvesting a crop.

The agricultural robot is based on a traveling body, a working unit provided on the traveling body to perform work related to crops, an optical sensor provided on the traveling body, and sensing data obtained by the optical sensor. A place management unit for determining whether or not the traveling body is located in the facility for cultivating the crop is provided, and the working unit determines that the traveling body is located in the facility by the place management unit. If so, the crop work is performed based on the work unit.

The place management unit determines that the traveling body is in the facility when the sensing data includes a structure constituting the facility and the structure is the first profiling seen from the inside of the facility.
When the sensing data includes the second profiling of the cultivation place of the crop in addition to the first profiling, the place management unit determines that the traveling body is in the facility.

The agricultural robot includes a traveling control unit that controls the traveling of the traveling body based on the first profiling and the second profiling.
The agricultural robot includes a map generation unit that generates a map in the facility based on the first profiling and the crops contained in the second profiling.
The place management unit determines whether or not it is the first profiling based on the trained model and the sensing data.

The place management unit performs reinforcement learning by acquiring the sensing data when the traveling body travels in the facility.
The place management unit determines whether or not the traveling body is located in the facility based on the sensing data of the frame constituting the facility as the structure.
The support system for an agricultural robot includes a traveling body, a working unit provided on the traveling body to perform work related to crops, and an optical sensor provided on the traveling body, and the traveling body is located in the facility. This is an agricultural robot support system that works on crops based on the work unit, and the traveling body is placed in the facility where the crops are cultivated based on the sensing data obtained by the optical sensor. It has a place management unit that determines whether or not it is located.

The support system for the agricultural robot includes a traveling control unit that controls the traveling of the traveling body based on the first profiling and the second profiling.
The support system for the agricultural robot includes the first profiling and a map generation unit that generates a map in the facility based on the crops contained in the second profiling.

According to the present invention, the work of the agricultural robot in the facility can be efficiently performed.

It is a side view of an agricultural robot. It is a side view of an agricultural robot in a working posture. It is a perspective view of an airframe and a manipulator. It is a side view of an airframe and a manipulator. It is a top view of the traveling device. It is a side view of a traveling device. It is a partially enlarged view of a robot hand. It is an overall view of the support system of an agricultural robot. It is a figure which shows the route which the agricultural robot was run in the facility. It is a figure which shows the relationship between the sensing data (captured image), and a trained model. It is a figure which showed the relationship between the sensing data (captured image), and the trained model different from FIG. 10A. It is a figure which shows an example of the map F1. Facility It is a schematic diagram of the inside of a horticultural facility. Facility It is a schematic view of the plane of the facility of horticulture. It is a perspective view of the inside of a horticultural facility in the early stage of crop cultivation. It is a perspective view of the inside of the facility gardening facility in the middle or late stage of cultivation of crops. It is a figure which shows an example of the captured image H1. It is a figure which shows an example of the captured image H1 which is different from FIG. 16A. It is a figure which shows the flow of a series of movements of an agricultural robot.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings as appropriate.
1 and 2 illustrate the agricultural robot 1. The agricultural robot 1 is a robot that performs work (agricultural work) on a crop 2 cultivated in a facility such as a house or a facility such as a house or a plant factory as shown in FIGS. 12 to 15. The agricultural robot 1 works on, for example, heavy vegetables, fruits, etc., which are relatively heavy crops 2 such as watermelon, melon, and pumpkin.

First, the facility will be described by taking a facility of facility horticulture (facility horticultural facility) as an example.
As shown in FIGS. 12 to 15, the facility 100 includes a house 101 and an apparatus 102 installed inside the house 101 as a structure constituting the facility 100.
The house 101 includes a frame 110 and a covering material 111. The frame 110 constitutes the frame of the facility 100 by combining various steel materials such as I-shaped steel, H-shaped steel, C-shaped steel, square steel, and round steel, and has a plurality of column members 110A. It includes a plurality of connecting members 110B. As shown in FIGS. 12 to 14, the plurality of column members 110A are members standing up from the ground or the like, and are installed at predetermined intervals in the horizontal direction X1 and at predetermined intervals in the vertical direction Y1. ..

The connecting member 110B connects the upper ends of a plurality of support column members 110A separated in the lateral direction X1 to each other. Further, the connecting member 110B connects a plurality of support column members 110A separated in the vertical direction Y1 to each other.
The covering material 111 is a member having at least a translucent property capable of taking in sunlight, and is made of synthetic resin, glass, or the like. The covering material 111 covers the entire frame 110 from the outside of the frame 110, for example. In other words, the covering material 111 is arranged outside the support column member 110A and outside the connecting member 110B.

The device 102 is various devices used when cultivating the crop 2, and is a device capable of adjusting the temperature, humidity, air flow, etc. in the house 101. Specifically, the device 102 is a ventilation fan 102A, a circulation fan 102B, a heat exchange device 102C, and the like. As shown in FIGS. 12 and 13, the ventilation fan 102A is installed on the entrance / exit 130 side of the house 101, and discharges the outside air to the outside and takes in the outside air into the house 101.

The circulation fan 102B is installed in the house 101 and circulates the air in the house 101 in a predetermined direction. The heat exchange device 102C is a device capable of changing the temperature of the house 101, and is configured as, for example, a heat pump. The above-mentioned device 102 is an example, and may be, and is not limited to, a irrigation device, a lighting device, a spray device, and the like.
The agricultural robot 1 performs various agricultural operations on the crop 2 cultivated at the cultivation place 105 in the facility 100, for example, harvesting the crop 2, fertilizer spraying, pesticide spraying, and the like. The agricultural robot 1 is a self-supporting robot.

1 to 8 show the agricultural robot 1. FIG. 8 shows a support system for an agricultural robot.
Hereinafter, the agricultural robot 1 and the support system for the agricultural robot will be described in detail. In the following description, the direction indicated by the arrow A1 will be referred to as a forward direction, the direction indicated by the arrow A2 will be referred to as a backward direction, and the direction indicated by the arrow A3 will be referred to as a front-back direction in FIGS. 1 and 2. Therefore, the direction indicated by the arrow B1 in FIG. 2 (front side in FIG. 1) is to the left, and the direction indicated by the arrow B2 in FIG. 2 (back side in FIG. 1) is to the right. Further, the horizontal direction orthogonal to the front-rear direction A3 will be described as the machine body width direction (direction of arrow B3 in FIG. 2).

As shown in FIG. 1, the agricultural robot 1 has a traveling body 3 that autonomously travels. The traveling body 3 has a machine body 6 and a traveling device 7 that supports the machine body 6 so as to be able to travel.
As shown in FIGS. 3 and 4, the airframe 6 has a main frame 6A and a motor frame 6B. The main frame 6A has a pair of first frames 6Aa arranged at intervals in the machine width direction B3, and a pair of second frames 6Abs arranged below each first frame 6Aa at intervals. ing. The first frame 6Aa and the second frame 6Ab are connected by a plurality of vertical frames 6Ac. The vertical frame 6Ac includes the front part between the left first frame 6Aa and the left second frame 6Ab, the front part between the right first frame 6Aa and the right second frame 6Ab, and the left first frame 6Aa. It is provided between the rear part of the left second frame 6Ab and the rear part of the right first frame 6Aa and the right second frame 6Ab.

The left first frame 6Aa and the right first frame 6Aa are connected by a first horizontal frame 6Ad to a fifth horizontal frame 6Ah arranged between the first frames 6Aa. The first horizontal frame 6Ad to the fifth horizontal frame 6Ah are arranged in parallel with an interval in the front-rear direction A3 from the front end to the rear end of the first frame 6Aa.
The front portions of the second frame 6Ab are connected to each other by the sixth horizontal frame 6Aj, and the rear portions of the second frame 6Ab are connected to each other by the seventh horizontal frame 6Ak.

The prime mover frame 6B is arranged below the main frame 6A. The prime mover frame 6B has a front frame 6Ba, a rear frame 6Bb, a plurality of connecting frames 6Bc, and a plurality of mounting frames 6Bd. The upper part of the front frame 6Ba is attached to the front part of the left and right second frames 6Ab. The upper part of the rear frame 6Bb is attached to the front part of the left and right second frames 6Ab. The plurality of connecting frames 6Bc connect the lower portions of the front frame 6Ba and the rear frame 6Bb. The plurality of mounting frames 6Bd are fixed to the central portion of the connecting frame 6Bc in the front-rear direction A3.

As shown in FIG. 4, a prime mover (engine) E1 is attached to the attachment frame 6Bd. A hydraulic pump P1 is attached to the prime mover E1. The hydraulic pump P1 is driven by the prime mover E1. Further, the prime mover frame 6B is equipped with a hydraulic oil tank (not shown) for storing hydraulic oil discharged from the hydraulic pump P1.
As shown in FIG. 5, a plurality of control valves (first control valve CV1 to fourth control valve CV4) for controlling the traveling device 7 are mounted on the main frame 6A (airframe 6).

As shown in FIGS. 1, 2, and 5, the traveling device 7 is composed of a wheel-type (four-wheel type) traveling device 7 having four wheels 8. Specifically, the traveling device 7 includes a first wheel 8La (left front wheel) arranged on the left side of the front part of the machine body 6, a second wheel 8Ra (right front wheel) arranged on the right side of the front part of the machine body 6, and the machine body 6. It is equipped with a third wheel 8Lb (left rear wheel) arranged on the left side of the rear part and a fourth wheel 8Rb (right rear wheel) arranged on the right side of the rear part of the fuselage 6. The traveling device 7 may be composed of a wheel-type traveling device having at least three wheels 8. Further, the traveling device 7 may be a crawler type traveling device.

The traveling device 7 has a wheel support 9 that supports the wheels 8. The number of wheel supports 9 corresponds to the number of wheels 8. That is, the traveling device 7 has a first wheel support 9La that supports the first wheel 8La, a second wheel support 9Ra that supports the second wheel 8Ra, a third wheel support 9Lb that supports the third wheel 8Lb, and a first wheel support 7. It has a fourth wheel support 9Rb that supports the four wheels 8Rb.

As shown in FIGS. 5 and 6, the wheel support 9 has a traveling frame 10, a steering cylinder C1, a first elevating cylinder C2, a second elevating cylinder C3, and a traveling motor M1. ..
The traveling frame 10 has a main support 10A, a swing frame 10B, and a wheel frame 10C. The main support 10A is possibly supported by the machine body 6 around the vertical axis (the axis extending in the vertical direction). Specifically, the main support 10A is rotatably supported by a support bracket 11 fixed to the machine body 6 via a first support shaft 12A having an axial center extending in the vertical direction.

As shown in FIG. 5, the support bracket 11 that pivotally supports the first wheel support 9La is provided on the left side of the front portion of the airframe 6, and the support bracket 11 that pivotally supports the second wheel support 9Ra is the front portion of the airframe 6. The support bracket 11 provided on the right side and pivotally supporting the third wheel support 9Lb is provided on the rear left side of the machine body 6, and the support bracket 11 for pivotally supporting the fourth wheel support 9Rb is provided on the rear right side of the machine body 6. ing.

The swing frame 10B is supported by the main support 10A so as to be swingable up and down. Specifically, the swing frame 10B has an upper portion rotatably supported by the main support 10A via a second support shaft 12B about a horizontal axis (an axial center extending in the machine width direction B3).
The front upper part of the swing frame 10B of the first wheel support 9La and the second wheel support 9Ra is pivotally supported by the main support 10A, and the swing frame 10B of the third wheel support 9Lb and the fourth wheel support 9Rb is The upper rear part is pivotally supported by the main support 10A.

The wheel frame 10C is supported by the swing frame 10B so as to be swingable up and down. Specifically, the wheel frame 10C is rotatably supported by the swing frame 10B via a third support shaft 12C around a horizontal axis.
The rear part of the wheel frame 10C of the first wheel support 9La and the second wheel support 9Ra is pivotally supported by the rear part of the swing frame 10B, and the wheel frame 10C of the third wheel support 9Lb and the fourth wheel support 9Rb is front. The portion is pivotally supported by the front portion of the swing frame 10B.

The steering cylinder C1, the first elevating cylinder C2, and the second elevating cylinder C3 are composed of hydraulic cylinders.
The steering cylinder C1 is provided between the machine body 6 and the main support body 10A. Specifically, one end of the steering cylinder C1 is pivotally supported by a cylinder bracket 14A fixed to the central portion of the first frame 6Aa in the front-rear direction A3, and the other end of the steering cylinder C1 is fixed to the main support 10A. It is pivotally supported by the cylinder bracket 14B. By expanding and contracting the steering cylinder C1, the traveling frame 10 swings around the first support shaft 12A, and the direction of the wheels 8 (first wheel 8La to fourth wheel 8Rb) can be changed (steered). .. In the traveling device 7 of the present embodiment, each wheel 8 can be steered independently.

One end of the first elevating cylinder C2 is pivotally supported by the swing frame 10B, and the other end is pivotally supported by the first link mechanism 15A. The first link mechanism 15A has a first link 15a and a second link 15b. One end of the first link 15a is pivotally supported by the main support 10A, and one end of the second link 15b is pivotally supported by the swing frame 10B. The other ends of the first link 15a and the second link 15b are pivotally supported by the other ends of the first elevating cylinder C2. By expanding and contracting the first elevating cylinder C2, the swing frame 10B swings up and down around the second support shaft 12B.

One end of the second elevating cylinder C3 is pivotally supported by the front portion of the swing frame 10B, and the other end is pivotally supported by the second link mechanism 15B. The second link mechanism 15B has a first link 15c and a second link 15d. One end of the first link 15c is pivotally supported by the swing frame 10B, and one end of the second link 15d is pivotally supported by the wheel frame 10C. The other ends of the first link 15c and the second link 15d are pivotally supported by the other ends of the second elevating cylinder C3. By expanding and contracting the second elevating cylinder C3, the wheel frame 10C swings up and down around the third support shaft 12C.

The wheels 8 can be moved up and down in parallel by combining the vertical swing of the swing frame 10B by the first lift cylinder C2 and the vertical swing of the wheel frame 10C by the second lift cylinder C3.
The traveling motor M1 is formed by a hydraulic motor. The traveling motor M1 is provided corresponding to each wheel 8. That is, the traveling device 7 drives the traveling motor M1 for driving the first wheel 8La, the traveling motor M1 for driving the second wheel 8Ra, the traveling motor M1 for driving the third wheel 8Lb, and the fourth wheel 8Rb. It has a traveling motor M1. The traveling motor M1 is arranged inside the body width direction B3 of the wheels 8 and is attached to the wheel frame 10C. The traveling motor M1 is driven by the hydraulic oil discharged from the hydraulic pump P1 and is capable of forward and reverse rotation. By reversing the traveling motor M1 in the forward and reverse directions, the rotation of the wheels 8 can be switched between the forward rotation direction and the reverse rotation direction.

The second wheel support 9Ra, the third wheel support 9Lb, and the fourth wheel support 9Rb have the same components as the components constituting the first wheel support 9La. The second wheel support 9Ra is configured symmetrically with the first wheel support 9La. The third wheel support 9Lb has a form in which the second wheel support 9Ra is rotated by 180 ° around the center axis in the vertical direction passing through the center of the machine body 6. The fourth wheel support 9Rb has a form in which the first wheel support 9La is rotated by 180 ° around the center axis.

The hydraulic actuator mounted on the first wheel support 9La is controlled by the first control valve CV1. The hydraulic actuator mounted on the second wheel support 9Ra is controlled by the second control valve CV2. The hydraulic actuator mounted on the third wheel support 9Lb is controlled by the third control valve CV3. The hydraulic actuator mounted on the fourth wheel support 9Rb is controlled by the fourth control valve CV4.

Therefore, the first wheel 8La to the fourth wheel 8Rb can be steered independently. Further, the first wheel 8La to the fourth wheel 8Rb can be raised and lowered independently.
In the traveling device 7, the traveling body 3 can be steered by steering the first wheel 8La to the fourth wheel 8Rb. The traveling body 3 can be advanced by rotating the first wheel 8La to the fourth wheel 8Rb in the forward direction, and the traveling body 3 can be moved backward by reversing the rotation. The traveling body 3 can be raised and lowered by raising and lowering the first wheel 8La to the fourth wheel 8Rb. By raising and lowering the first wheel 8La and the second wheel 8Ra with respect to the third wheel 8Lb and the fourth wheel 8Rb, or by raising and lowering the third wheel 8Lb and the fourth wheel 8Rb with respect to the first wheel 8La and the second wheel 8Ra. The aircraft 6 can be tilted forward or backward by moving up and down. By raising and lowering the first wheel 8La and the third wheel 8Lb with respect to the second wheel 8Ra and the fourth wheel 8Rb, or by raising and lowering the second wheel 8Ra and the fourth wheel 8Rb with respect to the first wheel 8La and the third wheel 8Lb. By moving up and down, the machine 6 can be inclined so that one side of the body width direction B3 is higher than the other side.

The agricultural robot 1 includes a manipulator (working unit) 4 mounted on the traveling body 3. The manipulator (working unit) 4 is a part for performing work, and is, for example, a device capable of harvesting at least crop 2 in the present embodiment.
As shown in FIGS. 3 and 4, the manipulator 4 is provided on the mounting body 16 detachably mounted on the traveling body 3 (machine body 6), the arm 17 mounted on the mounting body 16, and the arm 17. It is equipped with a robot hand 18 capable of gripping a crop (object) 2.

As shown in FIG. 1, the mounting body 16 is provided at the rear portion of the traveling body 3 in the present embodiment. The mounting body 16 may be provided on the front portion of the traveling body 3. That is, it suffices if the traveling body 3 is provided so as to be offset to one side from the central portion in the front-rear direction A3. Further, in the present embodiment, since the agricultural robot 1 advances the traveling body 3 forward to perform the harvesting work, the mounting body 16 is biased to the opposite direction of the traveling direction, which is the direction opposite to the traveling direction. It is provided. The mounting body 16 is formed in a box shape and is removable from the traveling body 3.

A rotating frame 21 is erected on the mounting body 16. The rotation frame 21 can rotate around the rotation axis J1 by the rotation motor M2 provided inside the mounting body 16. By rotating the rotating frame 21, the robot hand 18 can be moved (changed in position) in the circumferential direction about the rotation axis J1.
As shown in FIGS. 3 and 4, the arm 17 is supported by the rotating frame 21 so as to be vertically swingable and can be bent and extended in the middle portion in the longitudinal direction. The arm 17 has a main arm 29 and a sub arm 30.

The main arm 29 is pivotally supported by the rotating frame 21 so as to be able to swing up and down, and can be bent and extended. Specifically, the main arm 29 includes a first arm portion 31 swingably supported by the rotating frame 21 and a second arm portion 32 swingably supported by the first arm portion 31. The second arm portion 32 swings with respect to the first arm portion 31 so that it can be bent and stretched.
The base side 31a of the first arm portion 31 is pivotally supported by the arm bracket 26. As shown in FIG. 3, the first arm portion 31 has a first arm frame 31L and a second arm frame 31R. The first arm frame 31L and the second arm frame 31R are arranged side by side in the body width direction B3 and are connected to each other by a connecting pipe 31A or the like. The upper part of the arm bracket 26 is inserted between the base side 31a of the first arm frame 31L and the second arm frame 31R, and via an arm pivot 33A (referred to as the first arm pivot) having an axial center extending in the body width direction B3. The base side 31a of the first arm frame 31L and the second arm frame 31R is rotatably supported by the arm bracket 26 around the axis of the first arm pivot 33A.

The first arm frame 31L and the second arm frame 31R are formed of a hollow member. The length of the first arm portion 31 is formed to be shorter than the length of the traveling body 3 (machine body 6) in the front-rear direction A3.
As shown in FIG. 4, the first arm portion 31 has a cylinder mounting portion 31b on the base side 31a and closer to the tip end side 31c than the first arm pivot 33A. A first arm cylinder (first hydraulic cylinder) C4 is provided over the cylinder mounting portion 31b and the cylinder mounting portion 27a of the cylinder bracket 27. The first arm cylinder C4 is driven by hydraulic oil discharged from the hydraulic pump P1 provided on the traveling body 3 to expand and contract. By expanding and contracting the first arm cylinder C4, the first arm portion 31 swings up and down. The robot hand 18 can be raised and lowered by swinging the first arm portion 31 (arm 17) up and down. The first arm cylinder C4 is provided with a first stroke sensor that detects the stroke of the first arm cylinder C4.

As shown in FIG. 4, a pivot member 31B is fixed to the tip end side 31c of the first arm portion 31. Specifically, in the pivot member 31B, the base portion 31Ba is inserted between the first arm frame 31L and the second arm frame 31R and fixed to the first arm frame 31L and the second arm frame 31R. A cylinder stay 34 is attached to the lower surface side of the base portion 31Ba of the pivot member 31B. The distal end side 31Bb of the pivot member 31B projects forward from the first arm frame 31L and the second arm frame 31R.

As shown in FIG. 3, the length of the second arm portion 32 is formed to be longer than the length of the first arm portion 31. The base side 32a of the second arm portion 32 is pivotally supported by the distal end side 31Bb of the pivot member 31B. The second arm portion 32 has a third arm frame 32L and a fourth arm frame 32R. The third arm frame 32L and the fourth arm frame 32R are arranged side by side in the body width direction B3 and are connected to each other by a plurality of connecting plates 35. The third arm frame 32L and the fourth arm frame 32R are formed of a hollow member. The tip end side 31Bb of the pivot member 31B is inserted between the base side 32a of the third arm frame 32L and the fourth arm frame 32R. The third arm frame 32L and the fourth arm frame 32R (second arm portion 32) are pivotally supported by the pivot member 31B by an arm pivot (referred to as a second arm pivot) 33B having an axial center extending in the body width direction B3. ing.

A cylinder mounting portion 32c is provided on the base side 32a of the second arm portion 32 and closer to the tip end side 32b than the second arm pivot 33B. A second arm cylinder (second hydraulic cylinder) C5 is provided over the cylinder mounting portion 32c and the cylinder stay 34. The second arm cylinder C5 is driven by hydraulic oil discharged from the hydraulic pump P1 provided on the traveling body 3 to expand and contract. By expanding and contracting the second arm cylinder C5, the second arm portion 32 swings with respect to the first arm portion 31, and the main arm 29 (arm 17) bends and stretches (bends and stretches). In the present embodiment, the main arm 29 is linear in the most extended state, but may be slightly bent in the most extended state.

Further, by expanding and contracting the second arm cylinder C5, the robot hand 18 can be moved in the perspective direction with respect to the traveling body 3. Specifically, the robot hand 18 can be moved in a direction away from the traveling body 3 by extending the second arm cylinder C5, and the robot hand 18 can be moved closer to the traveling body 3 by contracting the second arm cylinder C5. Can be moved to.

As shown in FIG. 4, the second arm cylinder C5 is provided with a second stroke sensor that detects the stroke of the second arm cylinder C5.
The sub arm 30 is provided on the second arm portion 32 so as to be able to protrude and retract. Therefore, the length of the arm 17 can be expanded and contracted by projecting and retracting the sub-arm 30. The sub-arm 30 is formed linearly by a square pipe. The sub-arm 30 is supported so as to be movable in the longitudinal direction between the tip end side (front portion) of the third arm frame 32L and the fourth arm frame 32R. Further, the sub-arm 30 is arranged between the connecting plates 35 facing each other and can be fixed to the connecting plate 35 by a fixing tool such as a bolt. A protrusion 30a that abuts on the third arm frame 32L is provided on one side surface of the sub arm 30, and a protrusion 30a that abuts on the fourth arm frame 32R is provided on the other side surface. The protrusion 30a can suppress the rattling of the sub arm 30.

The sub-arm 30 is submerged between the third arm frame 32L and the fourth arm frame 32R at the most retracted position (last retracted position). The sub arm 30 may slightly protrude from the second arm portion 32 at the rearmost retracted position.
As shown in FIG. 4, a suspension plate 37 is fixed to the tip end side of the sub arm 30. The robot hand 18 is pivotally supported by the suspension plate 37 and suspended (see FIG. 1). That is, the robot hand 18 is swingably attached to the tip end side of the sub arm 30. A third stroke sensor that measures (detects) the amount of protrusion of the sub arm 30 from the second arm portion 32 is provided on the tip end side of the second arm portion 32.

As shown in FIGS. 1 and 2, the robot hand 18 has a base member 18A and a plurality of gripping claws 18B. A connecting piece 63 is provided on the upper surface side of the base member 18A. The connecting piece 63 is pivotally supported by the suspension plate 37. That is, the robot hand 18 is suspended from the arm 17. The plurality of gripping claws 18B are swingably attached to the lower surface side of the base member 18A. The robot hand 18 can grip the crop 2 between the gripping claws 18B and the gripping claws 18B by swinging the plurality of gripping claws 18B (see FIG. 2), and also grips the crops 2. It is possible to release it.

As shown in FIGS. 1 and 2, the agricultural robot 1 includes optical sensors 5A and 5B. The optical sensors 5A and 5B are a CCD camera equipped with a CCD (Charge Coupled Devices) image sensor, a CMOS camera equipped with a CMOS (Complementary Metal Oxide Semiconductor) image sensor, and an infrared camera. Is. In this embodiment, the optical sensors 5A and 5B are image pickup devices (CCD camera, CMOS camera, infrared camera). The optical sensors 5A and 5B may be laser sensors, that is, lidars (LiDAR: Light Detection And Ranging). The laser sensor (rider) can construct a 3D map around the vehicle 3 by irradiating it with pulsed infrared rays, etc. millions of times per second and measuring the time it takes for it to bounce back. It is a sensor that can be used. In this embodiment, the optical sensors 5A and 5B are image pickup devices (CCD camera, CMOS camera, infrared camera).

The optical sensor 5A is attached to the rotating frame 21. Specifically, it is attached to the upper part of the arm bracket 26 via the support column 40. The optical sensor 5A is not limited to this, and may be attached to the traveling body 3 or the like. Further, the optical sensors 5A may be provided at a plurality of locations. That is, the agricultural robot 1 may have a plurality of optical sensors 5A. The optical sensor 5A can photograph the surroundings of the traveling body 3, and acquires information on the surroundings of the traveling body 3 by photographing.

The optical sensor 5B is attached to the tip end side of the second arm portion 32. By imaging the crop 2, the optical sensor 5B can acquire quality information such as the size, shape, color, pattern (striped pattern in the case of watermelon), and scratches of the crop 2.
As shown in FIGS. 1 and 2, the agricultural robot 1 includes a tapping sound sensor 50C. The tapping sound sensor 50C is a sensor that acquires the tapping sound when the crop 2 is hit (the crop 2 is hit). As shown in FIG. 7, the tapping sound sensor 50C is provided on the robot hand 18 (base member 18A).

The tapping sound sensor 50C has a striking mechanism 51 and a recording mechanism 52. The striking mechanism 51 has a striking member 51A capable of advancing and retreating with respect to the crop 2 gripped by the gripping claw 18B. The striking member 51A is connected to an actuator 51B that moves the striking member 51A in the axial direction. The actuator 51B is, for example, electric, and by moving the striking member 51A in the axial direction in response to a control signal, the crop 2 is impacted and a striking sound is generated. The recording mechanism 52 has a microphone (highly directional microphone), and records (records) the tapping sound generated by striking the crop 2 with the striking member 51A.

As shown in FIG. 8, the agricultural robot 1 has a control device 41. The control device 41 is, for example, a microcomputer provided with a CPU (Central Processing Unit), an EEPROM (Electrically Erasable Programmable Read-Only Memory), or the like.
Optical sensors 5A and 5B, a tapping sound sensor 50C, a traveling motor M1 and a rotating motor M2 are connected to the control device 41. Further, a plurality of control valves 42 are connected to the control device 41. The control valve 42 includes a first control valve 42A, a second control valve 42B, a third control valve 42C, a fourth control valve 42D, and a fifth control valve 42E.

The first control valve 42A is a valve that controls the steering cylinder C1, the second control valve 42B is a valve that controls the first elevating cylinder C2, and the third control valve 42C is a valve that controls the second elevating cylinder C3. The fourth control valve 42D is a valve that controls the first arm cylinder C4, and the fifth control valve 42E is a valve that controls the second arm cylinder C5.
The first control valve 42A, the second control valve 42B, the third control valve 42C, the fourth control valve 42D, and the fifth control valve 42E are solenoid valves that operate based on, for example, a control signal from the control device 41. More specifically, the first control valve 42A, the second control valve 42B, the third control valve 42C, the fourth control valve 42D, and the fifth control valve 42E are solenoid valves (three-position switching) that are switched to a plurality of positions by a control signal. Solenoid valve).

When the control device 41 outputs a control signal to the first control valve 42A, the first control valve 42A switches to a predetermined position according to the control signal. When the control device 41 outputs a control signal to the second control valve 42B, the second control valve 42B is switched to a predetermined position according to the control signal.
Further, when the control device 41 outputs a control signal to the third control valve 42C, the third control valve 42C is switched to a predetermined position according to the control signal. When the control device 41 outputs a control signal to the fourth control valve 42D, the fourth control valve 42D is switched to a predetermined position according to the control signal. When the control device 41 outputs a control signal to the fifth control valve 42E, the fifth control valve 42E is switched to a predetermined position according to the control signal.

An oil passage 46 is connected to the first control valve 42A, the second control valve 42B, the third control valve 42C, the fourth control valve 42D, and the fifth control valve 42E, and hydraulic oil is discharged to the oil passage 46. The hydraulic pump P1 is connected.
According to the above, by switching the first control valve 42A, the supply of hydraulic oil to the bottom side or the rod side of the steering cylinder C1 is switched, and the steering cylinder C1 expands and contracts. By switching the second control valve 42B, the supply of hydraulic oil to the bottom side or the rod side of the first elevating cylinder C2 is switched, and the first elevating cylinder C2 expands and contracts. By switching the third control valve 42C, the supply of hydraulic oil to the bottom side or the rod side of the second elevating cylinder C3 is switched, and the second elevating cylinder C3 expands and contracts.

Further, by switching the fourth control valve 42D, the supply of hydraulic oil to the bottom side or the rod side of the first arm cylinder C4 is switched, and the first arm cylinder C4 expands and contracts. By switching the fifth control valve 42E, the supply of hydraulic oil to the bottom side or the rod side of the second arm cylinder C5 is switched, and the second arm cylinder C5 expands and contracts.
The agricultural robot 1 has a traveling control unit 41A. The travel control unit 41A is an electric / electronic circuit provided in the control device 41, a program stored in the control device 41, and the like.

The travel control unit 41A controls the travel device 7. That is, the traveling control unit 41A controls the steering cylinder C1 (first control valve 42A) and the traveling motor M1. The travel control unit 41A outputs a control signal to the first control valve 42A to expand and contract the steering cylinder C1 to change the steering direction of the travel device 7 (airframe 6). The travel control unit 41A outputs a control signal to the travel motor M1 to change the rotation speed or rotation direction of the travel motor M1 to change the speed of the travel device 7 (machine 6) and the travel device 7 (machine 6). ) Change the direction of travel.

Further, the traveling control unit 41A may control the raising / lowering, tilting, etc. of the machine body 6. For example, the traveling control unit 41A outputs a control signal to the second control valve 42B and expands / contracts the first elevating cylinder C2 to elevate and change the inclination of the machine body 6. Further, the traveling control unit 41A outputs a control signal to the third control valve 42C and expands / contracts the second elevating cylinder C3 to elevate and change the inclination of the machine body 6.

As described above, under the control of the travel control unit 41A, the agricultural robot 1 can independently travel to the facility 100 and the like.
The agricultural robot 1 has a work control unit 41B. The work control unit 41B is an electric / electronic circuit provided in the control device 41, a program stored in the control device 41, and the like.
The work control unit 41B controls the manipulator (work unit) 4. That is, the work control unit 41B controls the first arm cylinder C4, the second arm cylinder C5, and the rotary motor M2. The work control unit 41B outputs a control signal to the fourth control valve 42D and expands / contracts the first arm cylinder C4 to swing the first arm unit 31. The work control unit 41B outputs a control signal to the fifth control valve 42E and expands / contracts the second arm cylinder C5 to swing the second arm unit 32. Further, the work control unit 41B rotates the manipulator (work unit) 4 by changing the rotation direction of the rotation motor M2 by outputting a control signal to the rotation motor M2.

As described above, the work control unit 41B can move the robot hand 18 to an arbitrary (desired) position. Specifically, the robot hand 18 moves in the circumferential direction around the rotation axis J1 due to the rotation of the rotation frame 21, the robot hand 18 moves up and down due to the vertical swing of the first arm portion 31, and the second arm portion. The robot hand 18 can be moved to a target position by moving the robot hand 18 in the perspective direction with respect to the traveling body 3 by swinging the 32.

The work control unit 41B controls the actuator 51B (striking member 51A). For example, by outputting a control signal to the actuator 51B, the actuator 51B is operated, and the hitting member 51A controls to hit the crop 2 (hit control).
By the way, the agricultural robot 1 may perform traveling, work, etc. while determining the position of the traveling body 3 (airframe 6) based on the sensing data obtained by the optical sensor 5A.

As shown in FIG. 8, the agricultural robot 1 has a place management unit 41C. The place management unit 41C is an electric / electronic circuit provided in the control device 41, a program stored in the control device 41, and the like.
The place management unit 41C determines whether or not the traveling body 3 (airframe 6) is located in the facility 100 for cultivating the crop 2 based on the sensing data obtained by the optical sensor 5A. When the optical sensor 5A is an image pickup device, the sensing data is an captured image (image data). When the optical sensor 5A is a laser sensor (rider), it is scan data including the distance and direction from the optical sensor 5A to the object (object) sensed.

Hereinafter, the processing in the location management unit 41C will be described in detail.
As shown in FIGS. 16A and 16B, the location management unit 41C refers to the captured image H1 obtained by the optical sensor 5A. The place management unit 41C determines whether or not the referenced captured image H1 contains a structure constituting the facility 100.
For example, the location management unit 41C executes image processing on the captured image H1 to analyze whether or not the captured image H1 includes a structure constituting the facility 100. The place management unit 41C analyzes whether or not the captured image H1 of the frame 110 (support member 110A, connecting member 110B), ventilation fan 102A, circulation fan 102B, heat exchange device 102C, etc. of the house 101 is included.

Further, when the place management unit 41C includes a structure (frame 110, support column member 110A, connecting member 110B, ventilation fan 102A, circulation fan 102B, heat exchange device 102C), the structure shown in the captured image H1. It is determined whether the shape of is the same as the shape (first profiling) R1 seen from the inside of the facility 100. In the place management unit 41C, in the structure of the captured image H1, the shape (profiling) obtained from the contour, unevenness, surface color (gradation) of the structure is the same as that of the first profiling R1 seen from inside the facility 100. Determine if they are the same.

Specifically, the place management unit 41C determines whether or not the shape of the structure shown in the captured image H1 is the first profiling R1 based on the trained model and the captured image H1. The trained model is a model obtained by preparing a plurality of sensing data (captured images H1) and deep learning by artificial intelligence (AI), and is a shape of a structure extracted from a predetermined captured image H1. Is a model that can determine whether the shape of the structure is as seen from the inside of the facility 100.

In order to construct the trained model, as shown in FIG. 9, a plurality of sensing data (as shown in FIG. 9) are measured by the optical sensor 5A while the agricultural robot 1 is driven in the passage 106 between the cultivation sites 105 in the facility 100. Perform data acquisition work to acquire the captured image H1). In the data acquisition work, assuming the agricultural work actually performed by the agricultural robot 1, a plurality of sensing data (captured images) are taken while running the agricultural robot 1 along the cultivation place 105 from the work start point P11 to the work end point P12. H1) is acquired.

Then, a plurality of sensing data (captured image H1) are stored in the control device 41, deep learning by artificial intelligence (AI) is executed, and a trained model is constructed (model construction work).
In the above-described embodiment, in the model construction work, the agricultural robot 1 constructs the trained model by acquiring a plurality of sensing data (captured images H1), but the plurality of sensing data (captured images) are constructed. H1) may be transmitted to a computer other than the agricultural robot 1, a model may be constructed by the computer, and the constructed trained model may be stored in the control device 41.

Further, in the above-described embodiment, the trained model is constructed by using the captured image H1 when the agricultural robot 1 is actually driven in the facility 100, but the structure (frame 110, support member 110A, connection) is constructed. The captured images of the member 110B, the ventilation fan 102A, the circulation fan 102B, and the heat exchange device 102C) may be imported into the control device 41 or a computer from various databases, and a trained model may be constructed using the captured images of the captured database. ..

Further, as shown in FIG. 10A, the sensing data (captured image H1) for constructing the trained model is divided into groups at the time when the crop 2 is cultivated in the facility 100, and the grouped sensing data. A trained model may be constructed for each (captured image H1).
For example, as shown in FIG. 10A, the first group G1 is sensing data (captured image H1) in the facility 100 before cultivating crop 2, and the sensing data (captured image H1) includes crop 2's. The image is not included. The second group G2 is the initial sensing data (captured image H1) in which the crop 2 is cultivated, and the sensing data (captured image H1) includes the initial image in which the crop 2 has grown.

The third group G3 is the medium-term sensing data (captured image H1) in which the crop 2 is cultivated, and the sensing data (captured image H1) includes the medium-term image in which the crop 2 has grown. The fourth group G4 is the sensing data (captured image H1) of the late stage in which the crop 2 is cultivated, and the sensing data (captured image H1) includes the image of the late stage in which the crop 2 has grown.

Therefore, the trained model (first model) obtained from the sensing data of the first group G1 is a model for determining the shape of the structure when the crop 2 does not exist in the facility 100. Further, the trained model (second model) obtained from the sensing data of the second group G2 is a model for determining the shape of the structure at the initial stage of cultivation of the crop 2. The trained model (third model) obtained from the sensing data of the third group G3 is a model for determining the shape of the structure when the crop 2 is cultivated in the middle stage. The trained model (fourth model) obtained from the sensing data of the fourth group G4 is a model for determining the shape of the structure when the crop 2 is cultivated in the late stage.

The place management unit 41C applies the current sensing data (captured image H1) to the trained models (first model to fourth model), and the shape of the structure of the current sensing data (captured image H1). When it is determined that the shape is the same as the shape (first profiling R1) seen from the inside of the facility 100 (the shape is almost the same), the place management unit 41C has the agricultural robot 1 (traveling body 3) in the facility 100. If it is determined that the robot 1 is located inside and the shape of the structure of the sensing data (captured image H1) is different from the shape of the first profiling R1, the agricultural robot 1 (traveling body 3) is outside the facility 100. Judge that it is located.

Now, in the above-described embodiment, whether or not the agricultural robot 1 is located in the facility 100 based on whether or not the sensing data (captured image H1) is the first profiling R1 of the structure of the facility 100. However, in addition to this, if the sensing data (captured image H1) includes the second profiling of the cultivation place 105 of the crop 2, it is determined that the traveling body 3 (aircraft 6) is in the facility 100. You may.

As shown in FIGS. 16A and 16B, the place management unit 41C shown in FIG. 8 includes the second profiling R2 of the cultivation place 105 of the crop 2 in addition to the first profiling R1 in the sensing data (captured image H1). If so, it is determined that the agricultural robot 1 (traveling body 3) is in the facility 100. The second profiling R2 is the shape of the crop 2 or the shape of the crop 2 and the cultivation place 105.

As described above, when the first profiling R1 and the second profiling R2 are used in determining whether or not the agricultural robot 1 (traveling body 3) is in the facility 100, for example, as shown in FIG. 10B, the structure. A trained model (fifth model) for determining the shape including the object and the crop 2 and a trained model (sixth model) for determining the shape including the structure, the crop 2 and the cultivation place 105 are used. The fifth model and the sixth model may be constructed from the sensing data of the second group G2 to the fourth group G4.

The place management unit 41C applies the sensing data (captured image H1) to the fifth model or the sixth model, and the sensing data (captured image H1) matches the first profiling R1 and the second profiling R2 (the shape is). If it is determined that it is the same), the location management unit 41C determines that the agricultural robot 1 (traveling body 3) is located in the facility 100. On the other hand, the place management unit 41C applies the sensing data (captured image H1) to the fifth model or the sixth model after traveling or starting the work, and the sensing data (captured image H1) is used for the first profiling R1 and the second. If it does not match the profiling R2, the location management unit 41C determines that the agricultural robot 1 (traveling body 3) is not located in the facility 100.

As shown in FIG. 10B, the place management unit 41C may have, for example, a trained model (seventh model) for determining the shape of the crop 2. The seventh model can be constructed using the captured image H1 containing at least crop 2. For example, the 7th model may be constructed from the above-mentioned sensing data of the 2nd group G2 to the 4th group G4, or a database in which the captured images of the crop 2 are imported into the control device 41 or a computer from various databases and imported. It may be constructed using the captured image of the above, and is not limited thereto.

By the way, in the above-described embodiment, as shown in FIGS. 16A and 16B, the agricultural robot 1 (traveling body 3) is placed in the facility 100 by the sensing data (captured image H1) obtained by the optical sensor 5A. Although it is determined whether or not it is located, in addition to this, the agricultural robot 1 (traveling body 3) has the shape (first profiling) and the first profiling of the structure included in the sensing data (captured image H1). 2 The self-driving is performed based on the profiling (the shape of the crop 2 or the shape of the crop 2 and the shape of the cultivation place 105).

First, when the traveling control unit 41A determines that the agricultural robot 1 (traveling body 3) is located in the facility 100, the traveling control unit 41A outputs a control signal or the like to the traveling motor M1 to cause the agricultural robot 1 to operate. The running of (running body 3) is started.
After the start of travel, the travel control unit 41A extracts the passage 106 from the sensing data (captured image H1) as shown in FIGS. 16A and 16B. The traveling control unit 41A has a steering cylinder C1 (first control) so that the agricultural robot 1 (traveling body 3) travels along the passage 106 (cultivation site 105) extracted during traveling (after the traveling starts). The valve 42A) is controlled. The determination of the passage 106 may be determined, for example, in the sensing data (captured image H1) to be between adjacent cultivation sites 105, or may be determined to be between crops 2, and is not limited.

Further, while the agricultural robot 1 (traveling body 3) is traveling, the location management unit 41C uses at least the first model to the sixth model to obtain the sensing data (captured image H1) obtained by the optical sensor 5A during the traveling. Which of the frame 110, the support member 110A, the connecting member 110B, the ventilation fan 102A, the circulation fan 102B, and the heat exchange device 102C is applied to any of the models and included in the captured image H1 during traveling. When the distance between the agricultural robot 1 (traveling body 3) and the structure is short, a stop command is output to the traveling control unit 41A. When the travel control unit 41A acquires the stop command, the travel control unit 41A automatically stops the travel of the agricultural robot 1 (traveling body 3).

Alternatively, the place management unit 41C applies the traveling sensing data (captured image H1) to at least one of the first model to the sixth model, and in the captured image H1, the structure, the crop 2, and the cultivation place 105. , The positional relationship of each of the passages 106 is determined, a place without obstacles (a place where traveling is possible) is extracted in front of or behind the agricultural robot 1 (traveling body 3), and the agricultural robot 1 (traveling) is extracted. The traveling route (traveling direction, speed, etc.) of the body 3) may be automatically created. In this case, the travel control unit 41A controls the travel so as to move along the travel route created by the location management unit 41C.

Alternatively, the place management unit 41C applies the traveling sensing data (captured image H1) to at least one of the first model to the sixth model, and in the captured image H1, the structure, the crop 2, and the cultivation place 105. , The position (traveling body position) of the agricultural robot 1 (traveling body 3) in the facility 100 may be estimated from the positional relationship of each of the passages 106.
When the agricultural robot 1 (traveling body 3) is independently traveled in the facility 100 by the traveling control unit 41A, the control device 41 acquires the captured image H1 obtained by the traveling optical sensor 5A. Then, the acquired image H1 may be used for reinforcement training of the trained models (first model to sixth model).

As shown in FIG. 8, the agricultural robot 1 may have a map generation unit 41D. The map generation unit 41D is an electric / electronic circuit provided in the control device 41, a program stored in the control device 41, and the like.
The map generation unit 41D is based on the first profiling (shape of the structure) obtained from the captured image H1 and the second profiling (shape of crop 2 or shape of crop 2 and shape of cultivation site 105). , Generate a map within the facility 100. For example, as shown in FIG. 9, the map generation unit 41D has a plurality of sensing data (captured image H1) when the agricultural robot 1 is run along the cultivation place 105 from the work start point P11 to the work end point P12. ). The map generation unit 41D estimates the positional relationship between the structure, the crop, and the passage at a predetermined position by using the above-mentioned trained model from the plurality of sensing data (captured image H1). Specifically, the map generation unit 41D refers to a plurality of captured images H1n (n = 1, 2, 3, ... n) from the work start point P11 to the work end point P12, respectively, and a plurality of captured images. While the subject (structure, crop 2, passage 106) included in H1n is extracted, the captured image H1n is captured based on the shape of each of the extracted subjects (structure, crop 2, passage 106). The position Qn (X coordinate: Qnx, Y coordinate: Qny) is estimated. Further, the map generation unit 41D estimates the distance (horizontal distance) Ln between the estimated imaging position Qn and the subject (structure, crop 2, passage 106) depicted in the captured image H1n, and as shown in FIG. As a structure, a map F1 including the planar contour of the house 101, the position and shape of the crop 2, and the position and shape of the passage 106 is formed. The map F1 created by the map generation unit 41D is stored (stored) in the control device 41. The map F1 may be transmitted to an external device (mobile terminal, personal computer, server) or the like by using a communication device provided in the agricultural robot 1, or the map F1 may be output to the travel control unit 41A. By outputting to the work control unit 41B, it may be used for traveling and work.

For example, after the start of running, the location management unit 41C applies the sensing data (captured image H1) after the start of running to at least one of the first model to the sixth model, and in the captured image H1, the structure. The position (running body position) of the agricultural robot 1 (running body 3) in the facility 100 is estimated from the positional relationship of the crop 2, the cultivation place 105, and the passage 106, and the running control unit 41A is the running body position. Compared with the map F1, the agricultural robot 1 (traveling body 3) is controlled to move along the passage 106.

The work control unit 41B refers to the sensing data (captured image H1) of the optical sensor 5A in the self-sustained traveling of the agricultural robot 1 (traveling body 3). The work control unit 41B applies the sensing data (captured image H1) to the seventh model, and determines whether or not the crop 2 exists around the agricultural robot 1 (running body 3). That is, when the work control unit 41B includes the profiling of the crop 2 (third profiling) in the sensing data (captured image H1), the work control unit 41B determines that it exists around the agricultural robot 1 (traveling body 3), and the second 3 If profiling is not included, it is determined that it does not exist around the agricultural robot 1 (traveling body 3).

When the crop 2 is reflected in the sensing data (captured image H1) (when the third profiling is included), the work control unit 41B has the first arm cylinder C4, the second arm cylinder C5, toward the crop 2. The robot hand 18 is moved by controlling the rotation motor M2.
The work control unit 41B harvests the crop 2 by, for example, grasping the crop 2 with the robot hand 18 and moving the gripped crop 2 to the passage 106 side. Alternatively, the work control unit 41B outputs a control signal to the actuator 51B in a state where the robot hand 18 is brought close to the crop 2 (in a gripped state), and as shown in FIG. 7, the striking member 51A sends the robot hand 18 to the crop 2. Give a blow to it.

FIG. 17 shows a flow of a series of operations of an agricultural robot.
As shown in FIG. 17, the agricultural robot 1 is made to travel along the passage 106 in the facility 100, and the sensing data (image taken image H1) detected by the optical sensor 5A during the traveling is acquired (S1). That is, the data acquisition work is performed by running the agricultural robot 1 in the facility 100 (S1). After the data acquisition work, the model construction work is performed using the control device 41 to construct the trained models (first model to seventh model) (S2). If the agricultural robot 1 repeatedly performs the data acquisition operation S1 to acquire a large amount of sensing data (captured image H1), the accuracy of the model can be improved.

After constructing the trained model (S2), when the agricultural robot 1 works, the agricultural robot 1 is made to run independently (S3), and the sensing data (captured image) detected by the optical sensor 5A during the independent running is performed. H1) is acquired (S4). After acquiring the captured image H1 during self-sustaining driving, the location management unit 41C applies the captured image H1 to the first model to the seventh model, and the agricultural robot 1 (traveling body 3) is located in the facility 100. It is determined whether or not it is present (S5). When it is determined that the place management unit 41C is located in the facility 100 (S5, Yes), the agricultural robot 1 autonomously travels in the facility 100 based on the captured image H1 sensed by the optical sensor 5A (S5, Yes). S6: Independent running).

In the self-sustaining travel S6, the location management unit 41C creates a travel route based on the sensing data (captured image H1) detected by the optical sensor 5A, and the travel control unit 41A uses the travel route created by the location management unit 41C. Control of running (control of self-sustaining running) is performed accordingly.
Alternatively, in the self-sustained running S6, the location management unit 41C estimates the position (running body position) of the agricultural robot 1 (running body 3) based on the sensing data (image taken image H1), and the running control unit 41A determines the position (running body position). The position of the traveling vehicle body is compared with the map F1, and the autonomous traveling is controlled so that the agricultural robot 1 (traveling body 3) moves along the passage 106.

Alternatively, in the self-sustained traveling S6, the traveling control unit 41A extracts the passage 106 from the sensing data (image taken image H1) detected by the optical sensor 5A by image processing, and the agricultural robot 1 (traveling body 3) passes the passage 106. The self-sustaining running is controlled so as to move along the line.
Further, when the agricultural robot 1 is performing the self-sustained traveling S6, the work control unit 41B refers to the sensing data (image captured image H1), and when the crop 2 is present around the agricultural robot 1, the crop 2 is present. , The robot hand 18 is controlled to perform operations such as harvesting and tapping sound (S7). It should be noted that the position of the crop may be determined from the map F1 with reference to the map F1 stored in the control device 41 during self-sustaining traveling. When the work is being performed, the travel control unit 41A stops the self-sustaining travel S6.

In the above-described embodiment, the captured image H1 has been described as an example of the sensing data, but the sensing data is not limited to the captured image H1 and is scan data obtained by sensing with a laser sensor (rider). You may. When scan data is used, the description of the scan data will be omitted because the description of the embodiment using the scan data can be obtained by replacing the captured image H1 in the above-described embodiment with "scan data".

The agricultural robot 1 includes a traveling body 3, a working unit 4 provided on the traveling body 3 for performing work related to crops, optical sensors 5A and 5B provided on the traveling body 3, and optical sensors 5A and 5B. A place management unit 41C for determining whether or not the traveling body 3 is located in the facility 100 for cultivating the crop 2 based on the obtained sensing data is provided, and the working unit 4 is traveled by the place management unit 41C. When it is determined that the body 3 is located in the facility 100, the work of the crop 2 is performed based on the working unit 4.

The support system for the agricultural robot 1 includes a traveling body 3, a working unit 4 provided on the traveling body 3 to perform work related to crops 2, and optical sensors 5A and 5B provided on the traveling body 3. It is a support system of the agricultural robot 1 that performs the work of the crop 2 based on the work unit 4 when the 3 is located in the facility 100, and is a crop based on the sensing data obtained by the optical sensors 5A and 5B. A place management unit 41C for determining whether or not the traveling body 3 is located in the facility 100 for cultivating the 2 is provided.

According to this, it is possible to easily grasp whether or not the traveling body 3 is located at the facility 100 by the sensing data obtained from the optical sensors 5A and 5B, and the agricultural robot 1 can easily grasp the facility 100. The work of crop 2 can be done within. That is, the sensing data allows the agricultural robot 1 to easily grasp the situation in the facility 100, and the work of the agricultural robot in the facility 100 can be efficiently performed.

The place management unit 41C determines that the traveling body 3 is in the facility 100 when the sensing data includes the structure constituting the facility 100 and the structure is the first profiling seen from the inside of the facility 100. According to this, it is possible to easily grasp whether or not the traveling body 3 is located in the facility 100 by the first profiling of the structure seen from the inside of the facility 100.

The place management unit 41C determines that the traveling body 3 is in the facility 100 when the sensing data includes the second profiling of the cultivation place 105 of the crop 2 in addition to the first profiling. According to this, it is possible to easily determine whether the state of the cultivation place 105, that is, even if the crop 2 cultivated in the cultivation place 105 changes due to growth, is in the facility 100.

The agricultural robot 1 or the support system for the agricultural robot 1 includes a traveling control unit 41A that controls the traveling of the traveling body 3 based on the first profiling and the second profiling. According to this, the traveling control unit 41A appropriately sets the traveling body 3 in the facility 100 while referring to the profiling (first profiling and second profiling) when the structure in the facility 100 and the cultivation place 105 are sensed. Can be run on.

The agricultural robot 1 or the support system of the agricultural robot 1 includes a map generation unit 41D that generates a map in the facility 100 based on the first profiling and the crop 2 included in the second profiling. According to this, the inside of the facility 100 can be easily made into a map (map), and the position of the crop 2, the position of the structure, and the like can be grasped.
The place management unit 41C determines whether or not it is the first profiling based on the trained model and the sensing data. According to this, the shape of the structure can be easily grasped.

The place management unit 41C performs reinforcement learning by acquiring sensing data when the traveling body 3 travels in the facility 100. According to this, it is possible to perform reinforcement learning of the trained model only by running the facility 100 by the traveling body 3, and it is possible to construct the trained model into a model with higher accuracy.
The place management unit 41C determines whether or not the traveling body 3 is located in the facility 100 based on the sensing data of the frame 100 constituting the facility 100 as a structure. According to this, it is possible to easily grasp whether the traveling body 3 is in the facility 100 by the sensing data of the frame 100.

Although one embodiment of the present invention has been described above, it should be considered that the embodiments disclosed this time are exemplary in all respects and are not restrictive. The scope of the present invention is shown by the scope of claims rather than the above description, and is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

1: Agricultural robot 2: Crop 3: Traveling body 4: Working part (manipulator)
5A: Optical sensor 5B: Optical sensor 41A: Travel control unit 41C: Location management unit 41D: Map generation unit 100: Facility 105: Cultivation site F1: Map R1: First profiling R2: Second profiling

Claims (16)

With the running body,
A work unit provided on the traveling body to perform work related to crops,
An optical sensor provided on the traveling body and
Based on the sensing data obtained by the optical sensor, a place management unit that determines whether or not the traveling body is located in the facility where the crop is cultivated, and a place management unit.
Equipped with
The working unit is an agricultural robot that works on crops based on the working unit when the location management unit determines that the traveling body is located in the facility. When the sensing data includes a structure constituting the facility and the structure is the first profiling seen from the inside of the facility, the place management unit determines that the traveling body is inside the facility. Item 1. The agricultural robot according to Item 1. The second aspect of claim 2, wherein the place management unit determines that the traveling body is in the facility when the sensing data includes the second profiling of the cultivation place of the crop in addition to the first profiling. Agricultural robot. The agricultural robot according to claim 3, further comprising a travel control unit that controls the travel of the traveling body based on the first profiling and the second profiling. The agricultural robot according to claim 3 or 4, further comprising a map generator that generates a map in the facility based on the first profiling and the crops contained in the second profiling. The agricultural robot according to any one of claims 2 to 5, wherein the place management unit determines whether or not it is the first profiling based on the trained model and the sensing data. The agricultural robot according to claim 6, wherein the place management unit acquires the sensing data when the traveling body travels in the facility to perform reinforcement learning. The agricultural robot according to any one of claims 1 to 7, wherein the place management unit determines whether or not the traveling body is located in the facility based on the sensing data of the frame constituting the facility as the structure. .. It is provided with a traveling body, a working unit provided on the traveling body to perform work related to crops, and an optical sensor provided on the traveling body, and is based on the working unit when the traveling body is located in the facility. It is a support system for agricultural robots that work on crops.
A support system for an agricultural robot provided with a location management unit for determining whether or not the traveling body is located in a facility for cultivating the crop based on the sensing data obtained by the optical sensor. When the sensing data includes a structure constituting the facility and the structure is the first profiling seen from the inside of the facility, the place management unit determines that the traveling body is inside the facility. Item 9. The support system for agricultural robots according to item 9.
.. The tenth aspect of the present invention, wherein the place management unit determines that the traveling body is in the facility when the sensing data includes the second profiling of the cultivation place of the crop in addition to the first profiling. Agricultural robot support system. The support system for an agricultural robot according to claim 11, further comprising a travel control unit that controls the travel of the traveling body based on the first profiling and the second profiling. The support system for an agricultural robot according to claim 11 or 12, further comprising a map generator that generates a map in the facility based on the first profiling and the crops included in the second profiling. The support system for an agricultural robot according to any one of claims 10 to 13, wherein the place management unit determines whether or not it is the first profiling based on the trained model and the sensing data. The support system for an agricultural robot according to claim 14, wherein the place management unit acquires the sensing data when the traveling body travels in the facility to perform reinforcement learning. The agricultural robot according to any one of claims 9 to 15, wherein the place management unit determines whether or not the traveling body is located in the facility based on the sensing data of the frame constituting the facility as the structure. Support system.

Images