JP2022006697A - Agricultural robot and support system of agricultural robot - Google Patents

Abstract

To allow data for grasping growth of crops, etc. to be collected easily.SOLUTION: An agricultural robot includes: a travelling body that can move to a crop cultivation position; a manipulator provided to the travelling body that can bring the tip side to crops when the travelling body reaches the periphery of the cultivation position; a hammering sensor including a striking mechanism provided on the tip side of the manipulator for striking the crops, and a microphone for collecting a sound when striking the crops with the striking mechanism; and a collection device for collecting data on the sound collected with the microphone.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, it is necessary to grasp the growth state of the crop when the crop is cultivated in the facility.
An object of the present invention is to provide an agricultural robot and a support system for an agricultural robot that can easily collect data for grasping the growth of crops and the like.

The agricultural robot may have a traveling body that can move toward the cultivation position of the crop and a traveling body that is provided on the traveling body and that brings the tip side closer to the crop when the traveling body reaches the periphery of the cultivation position. A tapping sensor including a possible manipulator, a striking mechanism provided on the tip end side of the manipulator and striking the crop, and a microphone for collecting the sound when the crop is striked by the striking mechanism, and the microphone. It is equipped with a collection device that collects the sound data collected in.

The agricultural robot includes at least a control device that controls the collecting device to move the traveling body toward the cultivation position of another crop that does not collect the data after collecting the data.
The agricultural robot includes an optical sensor provided on the traveling body, and the control device determines the distance between the crop and the traveling body in advance based on the sensing data obtained by the optical sensor. The traveling body is moved toward the cultivation position of the crop so as to reach the reference distance.

The agricultural robot includes a model generation unit that generates a model for estimating the growth state of a crop based on a plurality of data collected by the collection device.
The model generation unit performs reinforcement learning every time the collecting device acquires data.
The agricultural robot includes a robot hand that harvests by grasping the crop, a timing determination unit that determines whether or not the crop that has been hit is the harvest time, based on the model and the data. The robot hand harvests the crop that has been hit when the timing determination unit determines that it is the harvest time, and does not harvest the crop that has been hit when it is not determined to be the harvest time.

The collecting device is a storage device that stores the data or a communication device that transmits the data to an external terminal.
The support system for the agricultural robot is provided on the traveling body that can move toward the cultivation position of the crop and the traveling body, and when the traveling body reaches the periphery of the cultivation position, the tip side is used as the crop. A tapping sensor including a manipulator that can be brought close to the manipulator, a striking mechanism provided on the tip side of the manipulator that impacts the crop, and a microphone that collects the sound when the crop is impacted by the striking mechanism. It is a support system for an agricultural robot equipped with the above, and is equipped with a collecting device for collecting sound data collected by the microphone.

The support system for the agricultural robot includes at least a control device that controls the collecting device to move the traveling body toward the cultivation position of another crop that has not collected the data after collecting the data. ..
The support system for the agricultural robot includes an optical sensor provided on the traveling body, and the control device sets the distance between the crop and the traveling body in advance based on the sensing data obtained by the optical sensor. The traveling body is moved toward the cultivation position of the crop so as to reach the specified reference distance.

The support system for agricultural robots includes a model generation unit that generates a model for estimating the growth status of crops based on a plurality of data collected by the collection device.
The support system for agricultural robots has a work control unit that controls a robot hand that can be harvested by grasping the crop, and whether the crop that has been hit is the harvest time based on the model and the data. The work control unit is provided with a time determination unit for determining whether or not the crop is to be harvested, and the work control unit controls the robot hand to harvest the crop that has been hit when the timing determination unit determines that it is the harvest time. If it is not determined that it is the harvest time, the crop that has been hit is controlled not to be harvested.

According to the present invention, it is possible to easily collect data for grasping the growth of crops and the like.

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 an example of a sound data (waveform H10). It is a figure which shows the state of giving a blow to a crop by an agricultural robot. It is a figure which shows an example of the captured image H1. It is a figure which shows an example of tapping sound information including identification information and sound data. It is a figure which shows an example of the tapping sound information including identification information, sound data and tapping time. It is a figure which shows an example of the sound data at the time of a harvest, the identification information, and the tapping time (harvest time). It is a figure which shows the route which the agricultural robot was run in the facility. It is a figure which shows the modification of the support system of an agricultural robot. 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 the relationship with the captured image H1, the image H2 of a crop, and the reference frame F10.

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. 15 to 18. 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. 15 to 18, 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. 15 to 17, 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. 15 and 16, 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 on 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).
As shown in FIG. 8, the agricultural robot 1 includes a collecting device 43. The collecting device 43 collects sound data (sound data) collected by the microphone when the crop 2 is hit by the hitting member 51A. The collecting device 43 includes a storage device composed of a non-volatile memory or the like and storing sound data.

As shown in FIG. 9, the collecting device 43 collects the waveform H10 collected by the microphone when the crop 2 is hit as sound data. Here, the collecting device 43 acquires the sound (noise) around the crop 2 to be hit with a microphone before or after hitting the crop 2, and analyzes the acquired noise. The collecting device 43 determines whether or not the waveform H10 contains a waveform (noise waveform) corresponding to the noise by using the analysis result, and if the waveform H10 contains the noise, the noise waveform is obtained from the waveform H10. The removed waveform is collected as the waveform H10 at the time of impact. That is, the collecting device 43 performs a process of removing noise when the crop 2 is hit.

A noise estimation model (first model) is used to determine (estimate) whether or not the waveform is a noise waveform. The noise estimation model is a model that estimates whether or not noise is caused by changes in waveform amplitude, frequency, and waveform. The noise reduction model collects the sounds in the facility 100 under the condition that the crop 2 is not hit, inputs the collected sounds to the computer, and performs deep learning by artificial intelligence on the computer. It is a model built by doing.

In the above-described embodiment, the ambient sounds before and after the impact of the crop 2 are collected in advance, and the noise waveform is analyzed and estimated from the ambient sounds using the noise estimation model (first model). By doing so, the noise was removed, but instead of judging the noise from the waveforms before and after the impact, is the noise waveform included in the waveform H10 when the impact is performed? A noise estimation model (second model) for determining whether or not to use is used. The noise estimation model (second model) is constructed by inputting the waveform H10 at the time of tapping into a computer and performing deep learning by artificial intelligence in the computer. The noise estimation model (second model) also estimates the noise waveform in the waveform H10 based on the amplitude, frequency, and change of the waveform of the waveform H10. After estimating the noise waveform by the noise estimation model (second model), as described above, the collecting device 43 removes the noise waveform from the waveform H10 using the estimation result.

As shown in FIG. 10, the agricultural robot 1 (traveling body 3) autonomously travels in the facility 100 under the control of the traveling control unit 41A. During self-sustaining traveling, the work control unit 41B hits the crop 2 with the hitting member 51A, and the collecting device 43 collects (preserves) the waveform H10 when the crop 2 is hit. ..
For example, the agricultural robot 1 is brought closer to the periphery of the crop 2a by the control of the control device 41 (travel control unit 41A). When the agricultural robot 1 approaches the crop 2a, the crop 2a is hit by the hit control of the work control unit 41B or the like, and the sound data at the time of hitting the crop 2a is collected by the collecting device 43.

Next, when the sound data of the crop 2a is collected, the control device 41 (travel control unit 41A) controls to move the traveling body 3 toward another crop 2b for which the sound data is not collected, and the agricultural robot. Bring 1 closer to the perimeter of crop 2b. When the agricultural robot 1 approaches the crop 2b, the crop 2b is hit by the hit control of the work control unit 41B or the like, and the sound data at the time of hitting the crop 2b is collected by the collecting device 43.

That is, the control device 41 (travel control unit 41A) collects the sound data, and after the sound data is collected, the cultivation positions Dn (n = 1, 2, 2, of other crops 2b, 2c ... 3 ...) Is repeatedly controlled to move the traveling body 3 toward the facility 100 until there are no crops 2 for which sound data has not been collected.
Now, the control device 41 moves the agricultural robot 1 (running body 3) toward the cultivation position Dn 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), the sensing data is scan data including the distance and direction from the optical sensor 5A to the object (object) sensed.

As shown in FIG. 11, the control device 41 refers to the sensing data (captured image H1), and the crop 2 is included in the captured image H1 by matching the feature points of the sensing data (captured image H1). Judge whether or not.
When it is determined that the crop 2 is included in the first sensing data H10, the relative distance L10 between the crop 2 and the agricultural robot 1 (running body 3) is calculated (see FIG. 10). When the control device 41 determines that the captured image H1 contains the crop 2, for example, as shown in FIG. 19, for example, an image (vertical pixel, horizontal pixel) of the crop 2 which is the subject included in the captured image H1. The size of H2 is compared with the size of a preset reference frame (vertical pixel, horizontal pixel) F10. When the image H2 of the crop 2 is smaller than the reference frame F10, the control device 41 determines that the relative distance L10 is longer than the reference distance L11 determined corresponding to the reference frame F10. That is, the control device 11 estimates that the crop 2 is located farther than the position from the agricultural robot 1 (running body 3) to the reference distance L11. On the other hand, when the image H2 of the crop 2 is larger than the reference frame F10, the control device 41 determines that the relative distance L10 is shorter than the reference distance L11. That is, the control device 41 estimates that the crop 2 is closer than the position from the agricultural robot 1 (running body 3) to the reference distance L11.

That is, the control device 41 compares the size of the image H2 of the crop 2 with the size of the reference frame F10, and is based on the ratio of the size of the image H2 of the crop 2 to the size of the reference frame F10 and the reference distance L11. , The relative distance L10 between the current agricultural robot 1 and the crop 2 is obtained. That is, the control device 41 calculates the distance (moving distance) at which the relative distance L10 matches the reference distance L11 at the current position of the agricultural robot 1, and the traveling control unit 41A calculates the agricultural robot 1 (moving distance) by the moving distance. Move the traveling body 3) forward or backward. The reference distance L11 is set shorter than the distance between the robot hand 18 and the traveling body 3 when the tip side (robot hand 18) of the manipulator (working unit) 4 is farthest from the traveling body 3. There is. That is, in the manipulator (working unit) 4, the reference distance L11 is set to be shorter than the stroke (operating range) from the traveling body 3 to the tip end side of the robot hand 18.

In summary, the travel control unit 41A of the crop is such that the relative distance L10 between the crop 2 and the agricultural robot 1 (traveling body 3) when the image H2 of the crop 2 and the reference frame F10 match is constant. Move toward the cultivation position Dn. In the above method, the position of the lens with respect to the image sensor is not changed (focusing is not performed).
In the above-described embodiment, the agricultural robot 1 (running body 3) is placed on the crop 2 at a position where the relative distance L10 between the crop 2 and the agricultural robot 1 (running body 3) is constant by using the captured image H1. Although it was moving toward the cultivation position Dn, when the optical sensor 5A is a laser sensor (rider), the control device 41 (travel control unit 41A) uses the scan data to use the current agricultural robot 1 (the current agricultural robot 1 (rider). The distance between the traveling body 3) and the crop 2 (relative distance L10) is calculated, and the agricultural robot 1 (running body 3) is moved forward or backward so that the calculated relative distance L10 matches the reference distance L11.

When the relative distance L10 between the agricultural robot 1 (traveling body 3) and the crop 2 reaches the reference distance L11, that is, the agricultural robot 1 is around the cultivation position Dn of the predetermined crop 2. When it reaches, the tip side (robot hand 18) of the manipulator (working unit) 4 is brought close to a predetermined crop to control the impact. The collecting device 43 stores sound data when a predetermined crop 2 is hit.

As shown in FIG. 12A, when the collecting device 43 stores the sound data, the identification information for identifying the crop 2 (crops 2a, 2b, 2c ...) and the sound data are associated with each other as tapping sound information. Remember. For example, an identification member for recognizing identification information such as a two-dimensional bar code and a marker is installed in the vicinity of the crop 2 in association with the crop 2, and the identification member (two-dimensional bar code, marker) is installed at the time of tapping. ) Can be obtained by imaging with an image pickup device.

Alternatively, as shown in FIG. 12B, the collecting device 43 may store the identification information, the sound data, and the tapping time (month, day, time) in association with each other as tapping information. For example, an agricultural robot 1 is provided with a time measuring device (timer), and the time at the time of tapping (beating time) is measured by the timing device, and the timed tapping time, identification information, and sound data are measured. Is associated and stored as tapping sound information.

Alternatively, when harvesting with the robot hand 18, the collecting device 43 performs impact control by the work control unit 41B, and as shown in FIG. 12C, the sound data when the crop 2 is beaten by the impact control (at the time of harvesting). The sound data), the identification information, and the tapping time may be associated and stored as tapping information. In the case of FIG. 12C, since the time when the tapping sound is performed and the time when the harvesting is performed are the same, the tapping time can be regarded as the harvest time (harvest time).

In watermelons, melons, etc., when focusing on the sound data at the time of harvesting, the frequency of the waveform H10 obtained from the sound data at the time of harvesting tends to be low and the sound tends to be low. When the frequency of the waveform H10 is lower than a predetermined frequency, the collecting device 43 may store it as sound data at the harvest time.
As shown in FIG. 8, the agricultural robot 1 may have a model generation unit 41E. The model generation unit 41E is an electric / electronic circuit provided in the control device 41, a program stored in the control device 41, and the like.

The model generation unit 41E generates a model for estimating the growth state of the crop based on the plurality of sound data collected by the collection device 43. The model generation unit 41E acquires the tapping sound information (sound data, identification information) of FIG. 12A. In this case, the model generation unit 41E has the loudness of the tapping sound (waveform amplitude), the pitch of the tapping sound (frequency), and the degree of change in the tapping waveform in the plurality of sound data (waveform W10). For (sound), deep learning is performed by artificial intelligence, and a trained model (first growth model) that estimates the growth status is constructed.

Alternatively, in constructing the growth model, the model generation unit 41E acquires not only a plurality of sound data (waveform W10) but also the tapping time associated with the sound data shown in FIG. 12B, and uses the tapping time as the tapping time. Based on this, a plurality of sound data (waveform W10) are grouped in the early, middle, and late stages of cultivation. The model generation unit 41E constructs a trained growth model (second growth model) that estimates the growth status by performing deep learning on a plurality of sound data belonging to each of the groups (early, middle, and late). May be good.

Alternatively, as shown in FIG. 12C, the model generation unit 41E acquires sound data, identification information, and harvest time as tapping sound information, performs deep learning in the sound data corresponding to the harvest time, and performs deep learning in the sound data corresponding to the harvest time, and the harvest time as the growth state. A trained model (third growth model) that estimates the above is constructed.
In the above-described embodiment, the sound data when the sound is struck is collected while the agricultural robot 1 (running body 3) is running in the facility 100, but the sound data is repeatedly collected for the crop 2. You may go.

In this case, the model generation unit 41E may perform reinforcement learning when the agricultural robot 1 (running body 3) is run to make a tapping sound (every time the collecting device 43 acquires sound data).
As shown in FIG. 8, the agricultural robot 1 may have a timing determination unit 41F. The timing determination unit 41F is an electric / electronic circuit provided in the control device 41, a program stored in the control device 41, and the like.

In the time determination unit 41F, the crop 2 that has been hit is harvested based on the learned models (first growth model, second growth model, third growth model) and sound data at the time of work (at the time of hitting). Judge whether or not.
As shown in FIG. 13, the agricultural robot 1 is run in the passage 106 between the cultivation sites 105 in the facility 100. During work, the control device 41 (travel control unit 41A, work control unit 41B) refers to the sensing data (captured image H1, scan data) obtained from the optical sensor 5A, and starts from the work start point P11 to the work end point. The agricultural robot 1 is run along the cultivation place 105 up to P12.

As shown in FIG. 10, when the control device 41 (travel control unit 41A, work control unit 41B) analyzes the sensing data and determines that the agricultural robot 1 has approached the vicinity of the cultivation position Dn of the crop 2. The travel control unit 41A temporarily stops traveling. The work control unit 41B controls the manipulator 4 to bring the robot hand 18 closer to the crop 2. The work control unit 41B performs impact control with the robot hand 18 close to the crop 2, and impacts the crop 2. The collecting device 43 acquires and stores the sound data at the time of hitting, while the timing determination unit 41F applies the sound data at the time of hitting to at least one of the first growth model, the second growth model, and the third growth model. do.

For example, when the sound data at the time of hitting is applied to the first growth model and the first growth model outputs a result that the growth situation is the same as the harvest time, the timing determination unit 41F outputs the harvest time of the crop 2. The crop 2 is harvested by the robot hand 18 under the control of the work control unit 41B. On the other hand, when the first growth model outputs a result that the growth state is different from the harvest time, the time determination unit 41F determines that it is not the harvest time of the crop 2, and the robot is controlled by the work control unit 41B. By keeping the hand 18 away from the hit crop 2, the crop 2 is not harvested.

Alternatively, when the sound data at the time of hitting is applied to the second growth model and the second growth model outputs the result that the crop 2 is in the latter stage of cultivation as the growth situation, the timing determination unit 41F is the crop 2. It is determined that it is the harvest time, and the crop 2 is harvested by the robot hand 18 under the control of the work control unit 41B. When the second growth model outputs the result that the crop 2 is in the early stage or the middle stage of cultivation as the growth condition, the timing determination unit 41F determines that it is not the harvest time of the crop 2, and is controlled by the work control unit 41B. By moving the robot hand 18 away from the hit crop 2, the crop 2 is not harvested.

Alternatively, when the sound data at the time of hitting is applied to the third growth model and the third growth model outputs the result that it is the harvest time as the growth situation, the timing determination unit 41F is the harvest time of the crop 2. The robot hand 18 harvests the crop 2 under the control of the work control unit 41B. On the other hand, when the third growth model outputs a result that it is not the harvest time as the growth situation, the time determination unit 41F determines that it is not the harvest time of the crop 2, and the robot hand 18 is controlled by the work control unit 41B. By keeping it away from the hit crop 2, the crop 2 is not harvested.

According to the above, the agricultural robot 1 is run from the work start point P11 to the work end point P12 along the cultivation place 105, and the sound data of the crop 2 hit on the way is applied to the trained model to apply the harvest time. Only the crop 2 that is judged to be the harvest time by the trained model is harvested.
In the above-described embodiment, the timing determination unit 41F gives a blow based on the learned model (first growth model, second growth model, third growth model) and sound data at the time of work (at the time of hitting). Although it was determined whether or not the crop 2 was harvested, it may be determined whether or not it is harvested without using the trained model.

The time determination unit 41F refers to a database (past harvest record information) that summarizes the sound data of the time corresponding to the harvest time in the collection device 43, and refers to the loudness (waveform) of the tapping sound of the sound data of the harvest time. Amplitude of), pitch of tapping sound (frequency), average of change degree of waveform of tapping sound (timbre), etc. are calculated. Further, the timing determination unit 41F determines the loudness (waveform amplitude) of the tapping sound and the tapping sound in the sound data obtained by performing the striking work while running the agricultural robot 1 from the work start point P11 to the work end point P12. It is judged whether or not each of the pitch (frequency) of the sound and the degree of change (tone) of the waveform of the tapping sound is within the predetermined range from the standard (average), and if it is within the predetermined range, it is judged as the harvest time. However, if it is out of the specified range, it is judged that it is not the harvest time.

According to the above modification, the agricultural robot 1 is run from the work start point P11 to the work end point P12 along the cultivation place 105, and the sound data of the crop 2 hit on the way is obtained as the past harvest record information. If the sound data is within a predetermined range from the standard (average) of the past harvest record information, the crop 2 is harvested.
In the above-mentioned modified example, an example in which the average of past harvest record information is obtained has been described, but the standard may be other than the average, and variations such as standard deviation may be used as the standard, and the standard is limited. Not done.

FIG. 14 shows a modified example of the agricultural robot 1 and the support system of the agricultural robot. As shown in FIG. 14, the collecting device 43 may be a communication device capable of transmitting sound data to an external device 70 such as a server, a mobile terminal, or a personal computer. In this case, the collecting device 43, which is a communication device, transmits the sound data (waveform H10) when the crop 2 is hit to the external device 70. The external device 70 has a model generation unit 41E, and constructs a trained model that estimates the growth state based on the sound data transmitted from the agricultural robot 1 (communication device). The method of constructing the trained model is the same as that of the above-described embodiment.

When the model generation unit 41E constructs the trained model, the external device 70 transmits the constructed trained model (first growth model, second growth model, third growth model) to the agricultural robot 1 (communication device). do. When the agricultural robot 1 (communication device) receives the trained model (first growth model, second growth model, third growth model), the control device 41 stores the trained model. Similar to the above-described embodiment, the time determination unit 41F determines whether or not the crop 2 that has been hit is the harvest time based on the trained model of the control device 41 and the sound data obtained at the time of hitting. .. The work control unit 41B executes the harvest control when it is determined that the hit crop 2 is the harvest time, while the work control unit 41B performs the harvest when it is determined that the hit crop 2 is not the harvest time. Perform no control.

The agricultural robot 1 is provided on the traveling body 3 that can move toward the cultivation position Dn of the crop 2, and the tip side when the traveling body 3 reaches the periphery of the cultivation position Dn. A manipulator 4 that can be brought closer to the crop 2, a striking mechanism 51 that is provided on the tip side of the manipulator 4 and hits the crop 2, and a microphone that collects the sound when the crop 2 is hit by the striking mechanism 51. It is provided with a tapping sound sensor 50C including the above, and a collecting device 63 for collecting sound data collected by a microphone.

According to this, when it is desired to grasp the growth of the crop 2 by using the sound data, the sound data when the crop 2 is hit can be easily obtained by simply moving the traveling body 3 closer to the cultivation position Dn of the crop 2. It is possible to collect it and provide support for grasping the growth of crop 2. In particular, when the cultivation place (planting place) of the crop 2 is in the facility 100, it is possible to efficiently collect the sound data when the crop 2 is struck with less noise.

The agricultural robot 1 includes at least a control device 41 that controls the collecting device 63 to move the traveling body 3 toward the cultivation position Dn of another crop 2 that has not collected the data after collecting the data. .. According to this, the control device 41 can efficiently collect sound data when there are a plurality of crops 2.
The agricultural robot 1 includes optical sensors 5A and 5B provided on the traveling body 3, and the control device 41 together with the crop 2 and the traveling body 3 based on the sensing data obtained by the optical sensors 5A and 5B. The traveling body 3 is moved toward the cultivation position Dn of the crop 2 so that the distance between the two is a predetermined reference distance. According to this, the agricultural robot 1 (running body 3) can be moved around the cultivation position Dn, and the tip side of the manipulator 4 can be brought closer to the crop 2 more quickly and accurately.

The agricultural robot 1 includes a model generation unit 41E that generates a model for estimating the growth state of the crop 2 based on a plurality of data collected by the collection device 63. According to this, it is possible to easily generate a model capable of estimating the growth state of the crop 2 from the collected sound data.
The model generation unit 41E performs reinforcement learning every time the collection device 63 acquires data. According to this, reinforcement learning can be performed every time the collecting device 63 acquires data, such as a situation where the agricultural robot 1 (running body 3) works on the crop 2, and a more accurate model can be obtained. Can be built.

The agricultural robot 1 includes a robot hand 18 that harvests by grasping the crop 2, and a timing determination unit 41F that determines whether or not the crop 2 that has been hit is the harvest time based on the model and data. , And the robot hand 18 harvests the crop 2 that has been hit when the timing determination unit 41F determines that it is the harvest time, and does not harvest the crop 2 that has been hit when it is not determined to be the harvest time.

According to this, at the time of harvesting work in which the crop 2 is harvested, it is possible to easily grasp whether the crop 2 is at the harvest time, and it is possible to efficiently harvest only the crop 2 which is the harvest time.
The collecting device 63 is a storage device for storing data or a communication device for transmitting data to an external terminal. According to this, it is possible to store and collect sound data when the crop 2 is hit, or to transmit the collected sound data to an external terminal.

The support system for the agricultural robot 1 is provided on the traveling body 3 that can move toward the cultivation position Dn of the crop 2 and when the traveling body 3 reaches the periphery of the cultivation position Dn. A manipulator 4 capable of bringing the tip side closer to the crop 2, a striking mechanism 51 provided on the tip side of the manipulator 4 and striking the crop 2, and a sound collection when the crop 2 is striked by the striking mechanism 51. It is a support system of an agricultural robot 1 provided with a tapping sound sensor 50C including a microphone, and includes a collecting device 63 for collecting sound data collected by the microphone.

According to this, when it is desired to grasp the growth of the crop 2 by using the sound data, the sound data when the crop 2 is hit can be easily obtained by simply moving the traveling body 3 closer to the cultivation position Dn of the crop 2. It is possible to collect it and provide support for grasping the growth of crop 2. In particular, when the cultivation place (planting place) of the crop 2 is in the facility 100, it is possible to efficiently collect the sound data when the crop 2 is struck with less noise.

The support system of the agricultural robot 1 includes at least a control device 41 that controls the collecting device 63 to move the traveling body 3 toward the cultivation position Dn of another crop 2 that has not collected the data after collecting the data. I have. According to this, the control device 41 can efficiently collect sound data when there are a plurality of crops 2.
The support system of the agricultural robot 1 includes optical sensors 5A and 5B provided on the traveling body 3, and the control device 41 travels with the crop 2 based on the sensing data obtained by the optical sensors 5A and 5B. The traveling body 3 is moved toward the cultivation position Dn of the crop 2 so that the distance from the body 3 becomes a predetermined reference distance. According to this, the agricultural robot 1 (running body 3) can be moved around the cultivation position Dn, and the tip side of the manipulator 4 can be brought closer to the crop 2 more quickly and accurately.

The support system of the agricultural robot 1 includes a model generation unit 41E that generates a model for estimating the growth state of the crop 2 based on a plurality of data collected by the collection device 63. According to this, it is possible to easily generate a model capable of estimating the growth state of the crop 2 from the collected sound data.
The support system of the agricultural robot 1 has a work control unit that controls a robot hand 18 that can be harvested by grasping the crop 2, and whether the crop 2 that has been hit is the harvest time based on the model and data. It is equipped with a timing determination unit 41F for determining whether or not, and the work control unit controls the robot hand 18 to harvest the crop 2 that has been hit when the timing determination unit 41F determines that it is the harvest time. Control is performed so that the crop 2 that has been hit when it is not determined to be harvested is not harvested.

According to this, at the time of harvesting work in which the crop 2 is harvested, it is possible to easily grasp whether the crop 2 is at the harvest time, and it is possible to efficiently harvest only the crop 2 which is the harvest time.
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 2a: Crop 2b: Crop 2c: Crop 3: Traveling body 4: Manipulator 5A: Optical sensor 5B: Optical sensor 18: Robot hand 23: Collection device 41: Control device 41B: Work control Unit 41E: Model generation unit 41F: Timing determination unit 43: Collection device 50C: Hitting sound sensor 51: Strike mechanism 63: Collection device Dn: Cultivation position L11: Reference distance

Claims (14)

A traveling body that can move toward the cultivation position of the crop,
A manipulator provided on the traveling body and capable of bringing the tip side closer to the crop when the traveling body reaches the periphery of the cultivation position.
A tapping sensor provided on the tip side of the manipulator and including a striking mechanism for striking the crop and a microphone for collecting the sound when the crop is striked by the striking mechanism.
A collecting device that collects sound data collected by the microphone, and
Agricultural robot equipped with. The agricultural use according to claim 1, wherein at least the collecting device includes a control device for controlling the movement of the traveling body toward the cultivation position of another crop for which the data is not collected after the data is collected. robot. Equipped with an optical sensor provided on the traveling body,
Based on the sensing data obtained by the optical sensor, the control device raises the traveling body toward the cultivation position of the crop so that the distance between the crop and the traveling body becomes a predetermined reference distance. The agricultural robot according to claim 2, which is to be moved. The agricultural robot according to any one of claims 1 to 3, further comprising a model generation unit that generates a model for estimating the growth state of a crop based on a plurality of data collected by the collection device. The agricultural robot according to claim 4, wherein the model generation unit performs reinforcement learning every time the collecting device acquires data. A robot hand that harvests by grasping the crop,
Based on the model and the data, a timing determination unit for determining whether or not the crop that has been hit is the harvest time, and a timing determination unit.
Equipped with
Claim 4 or claim 4, wherein the robot hand harvests the crop that has been hit when the timing determination unit determines that it is the harvest time, and does not harvest the crop that has been hit when it is not determined to be the harvest time. The agricultural robot according to 5. The agricultural robot according to any one of claims 1 to 6, wherein the collecting device is a storage device for storing the data or a communication device for transmitting the data to an external terminal. A traveling body that can move toward the cultivation position of the crop, and a manipulator that is provided on the traveling body and that can bring the tip side closer to the crop when the traveling body reaches the periphery of the cultivation position. Support for agricultural robots equipped with a striking mechanism provided on the tip side of the manipulator and striking the crop, and a striking sound sensor including a microphone that collects the sound when the crop is striked by the striking mechanism. It ’s a system,
A support system for agricultural robots equipped with a collection device that collects sound data collected by the microphone. The agricultural use according to claim 8, wherein at least the collecting device includes a control device for controlling the movement of the traveling body toward the cultivation position of another crop for which the data is not collected after the data is collected. Robot support system. Equipped with an optical sensor provided on the traveling body,
Based on the sensing data obtained by the optical sensor, the control device raises the traveling body toward the cultivation position of the crop so that the distance between the crop and the traveling body becomes a predetermined reference distance. The support system for an agricultural robot according to claim 9, which is to be moved. The support system for an agricultural robot according to any one of claims 8 to 10, further comprising a model generation unit that generates a model for estimating the growth state of a crop based on a plurality of data collected by the collection device. The model generation unit is a support system for an agricultural robot according to claim 11, which performs reinforcement learning each time the collecting device acquires data. A work control unit that controls a robot hand that can be harvested by grasping the crop,
Based on the model and the data, a timing determination unit for determining whether or not the crop that has been hit is the harvest time, and a timing determination unit.
Equipped with
The work control unit controls the robot hand to harvest the crop that has been hit when the timing determination unit determines that it is the harvest time, and hits the robot hand when it is not determined to be the harvest time. The support system for an agricultural robot according to claim 11 or 12, which controls not to harvest a given crop. The support system for an agricultural robot according to any one of claims 1 to 6, wherein the collecting device is a storage device for storing the data or a communication device for transmitting the data to an external terminal.

Images