JP2022185941A - Agricultural support system and movable body - Google Patents

Abstract

To provide an agricultural support system and a movable body that when the movable body autonomously travels in a farm moves from a furrow to an adjacent furrow, are capable of reducing possibility of collapse of part of the furrow.SOLUTION: An agricultural support system includes a server and a robot that are configured to be communicable with each other, the robot being capable of traveling in a farm in which a plurality of row-like ridges and furrows are formed so as to be in parallel. The robot comprises a controller for controlling a motor so that the robot autonomously travels on a furrow. The controller is configured to control the motor so that the robot autonomously moves from one furrow to a furrow adjacent to the one furrow on the basis of results of detection on the left side and the right side of the mobile body.SELECTED DRAWING: Figure 19

Description

The present invention relates to an agricultural support system and a mobile body.

In recent years, the introduction of smart agriculture has been promoted as an attempt to save labor and improve efficiency in agricultural work, reduce the workload of existing farmers, and promote the entry of new farmers to pass on agricultural technology. there is In smart agriculture, labor saving and efficiency improvement of agricultural work are realized by utilizing robot technology and information communication technology.

For example, in Patent Document 1, a system (hereinafter referred to as (referred to as the "conventional system").

Conventional systems can support farm work by farm workers and farm robots based on various data on farms and crops acquired by farm work robots that move within the farm.

JP 2019-82765 A

However, in the conventional system, the farming robot is intended to photograph the work situation of the farmer on the farm with a camera, and therefore, for example, is positioned behind the farmer and moves with the farmer. For this reason, when agricultural robots acquire data on farms and crops, it is assumed that agricultural workers are working on the farm, and data cannot be acquired while agricultural workers are not working. , there is a problem that the burden on farm workers cannot be reduced. In order to solve this problem, there is a need for an agricultural support system using a mobile body that acquires farm data while autonomously traveling in the farm without the presence of a farm worker.

In a farm to which such an agricultural support system is applied, for example, a plurality of rows of ridges and ridges between the ridges are alternately formed. When the moving body finishes traveling between one furrow, it repeats moving to the adjacent furrow, and autonomously travels between all the furrows in the farm. However, if the moving object cannot turn in an appropriate position after traveling between one ridge and exiting the ridge, the moving object may contact or ride on the ridge, thereby causing a part of the ridge to be damaged. may collapse.

The present invention has been made to address the above-mentioned problems. That is, one of the objects of the present invention is to provide an agricultural support system capable of reducing the possibility of a part of a ridge collapsing when a moving body autonomously traveling in a farm moves from a ridge to an adjacent ridge, and It is to provide a moving body.

In order to solve the above problems, the present invention includes an information processing device configured to be able to communicate with each other, and a mobile body capable of traveling through a farm formed with a plurality of rows of ridges and the spaces between the ridges. In the agricultural support system, the mobile unit stores a communication device capable of communicating with the information processing device, and a farm map corresponding to the farm, which includes ridge information including positions regarding a plurality of ridges and between the ridges. a storage unit, a first information acquisition device that detects an object by acquiring object information related to objects around the mobile object, and a second information acquisition device that acquires mobile object information related to the state of the mobile object; A position information acquisition device for acquiring self-position information indicating the position of the mobile object, a traveling device capable of causing the mobile object to travel in a desired traveling direction, the farm map, the object information, and the mobile object information. and a control device that controls the traveling device so that the moving body autonomously travels between the ridges based on the self-position information, and the control device controls the traveling device so that the moving body travels between the one ridges. when the first information acquisition device detects the ridges on the left and right sides of the moving body from the ridge detection state in which the ridges are detected on the left and right sides of the moving body, the ridges in which the ridges are not detected on the left and right sides of the moving body are undetected state, the moving body advances straight a first distance from the position at which the first information acquisition device entered the ridge non-detection state, moves to a first turning position, and moves to the first turning position. , and then performs a first rectilinear motion in which the ridges are aligned along the direction in which the ridges are aligned toward a position where the ridges are present only on one of the left side and the right side of the moving body. , the control device controls the traveling device, and further, the control device moves from a state in which the first information acquisition device detects the ridge only on the one side of the moving body to the left side and the right side of the moving body. When the ridge is not detected and the ridge is not detected, the moving body advances straight by a second distance from the position at the time when the ridge is not detected and moves to the second turning position. After turning at the second turning position, the traveling device is controlled so as to perform a second rectilinear movement in which the vehicle moves straight toward the ridge adjacent to the one ridge.

The present invention is an agricultural support system including an information processing device configured to be able to communicate with each other, and a mobile body capable of traveling on a farm formed so that a plurality of rows of ridges and the spaces between the ridges are aligned, The mobile body includes a communication device capable of communicating with the information processing device; a storage unit storing a farm map corresponding to the farm, including ridge information including positions regarding the plurality of ridges and between the ridges; a first information acquisition device for acquiring object information about objects around the mobile object, a second information acquisition device for acquiring mobile object information on the state of the mobile object, and self-position information indicating the position of the mobile object , a traveling device capable of causing the mobile body to travel in a desired direction, and based on the farm map, the object information, the mobile body information, and the self-location information, the a control device for controlling the travel device so that the moving body autonomously travels between the ridges, wherein the farm includes a first marker installed at a position separated by a first predetermined distance from a first turning position; A second marker is installed at a position separated from the second turning position by a second predetermined distance, and the control device is configured to obtain the first information while the moving body is traveling between the one ridges. The device acquires a first marker distance, which is the distance between the first marker and the moving body, as the object information, and determines whether the moving body is the moving body based on the first marker distance and the first predetermined distance. When it is determined that the first turning position has been reached, after the moving body turns at the first turning position, toward a position where the ridge exists only on one of the left side and the right side of the moving body. , the traveling device is controlled so as to move straight along the direction in which the plurality of ridges are arranged, and the distance between the second marker and the moving body is obtained as the object information by the first information acquisition device. When it is determined that the moving body has reached the second turning position based on the second marker distance and the second predetermined distance, the moving body is at the second turning position. After turning, the traveling device is controlled so as to move straight toward the ridge adjacent to the one ridge.

According to the present invention, there is provided a mobile body that is configured to be able to communicate with an external information processing device and that is capable of traveling on a farm formed with a plurality of rows of ridges and between the ridges, and is capable of communicating with the information processing device. a storage unit storing a farm map corresponding to the farm, including ridge information including positions regarding the plurality of ridges and between the ridges; and acquiring object information about objects around the moving object. a first information acquisition device for detecting an object by means of the a traveling device capable of causing the mobile body to travel in a desired direction; and the mobile body autonomously traveling between the ridges based on the farm map, the object information, the mobile body information, and the self-location information. and a controller for controlling the traveling device, wherein the controller controls the first information acquisition device to control the left side and the right side of the mobile body when the mobile body is traveling between the ridges. from the ridge detection state in which the ridges are detected to the ridge undetected state in which the ridges are not detected on the left and right sides of the moving body, the moving body detects the ridges when the first information acquisition device detects the ridges. From the position at the time of the undetected state, it moves straight a first distance to a first turning position, turns at the first turning position, and then moves to only one of the left side and the right side of the moving body. The traveling device is controlled so as to perform a first straight movement operation in which the plurality of ridges are aligned toward a position where the ridge exists, and the control device is configured to acquire the first information. When the device changes from a state in which the ridge is detected only on the one side of the moving body to the ridge undetected state in which the ridge is not detected on the left side and the right side of the moving body, The moving body advances straight a second distance from the position at which the ridge is not detected, moves to a second turning position, turns at the second turning position, and then moves the moving body adjacent to the one ridge between the ridges. It is configured to control the traveling device so as to perform a second straight-advance motion to travel straight toward the ridge.

ADVANTAGE OF THE INVENTION According to this invention, when the moving body which autonomously runs in a farm moves from between ridges to adjacent ridges, possibility that a part of ridge will collapse can be reduced.

FIG. 1 is a schematic configuration diagram showing a configuration example of an agriculture support system according to the first embodiment of the present invention. FIG. 2 is a functional block diagram showing a configuration example of the robot. FIG. 3 is a perspective view showing a configuration example of the robot. FIG. 4 is a plan view showing an example of a farm where robots run. FIG. 5 is a schematic diagram schematically showing how the robot runs between furrows in a farm. FIG. 6 is a diagram for explaining the relationship between the monitoring image between ridges and the monitoring image saved in the server. FIG. 7 is a diagram for explaining the relationship between the monitoring image between the ridges and the monitoring image saved in the server. FIG. 8 is a diagram for explaining the relationship between the monitoring image between ridges and the monitoring image saved in the server. FIG. 9 is a perspective view showing a configuration example of the robot. FIG. 10 is a schematic diagram schematically showing how the robot runs between furrows in a farm. FIG. 11 is a schematic diagram schematically showing how the robot travels between ridges while detecting the ridge side surface with an external sensor. FIG. 12A is a diagram for explaining the mounting structure of the external sensor. FIG. 12B is a diagram for explaining the mounting structure of the external sensor. FIG. 12C is a diagram showing a configuration example of a robot having a movable attachment structure for external sensors. FIG. 13 is a diagram showing a state of laser light irradiation when the robot shown in FIG. 12C runs between ridges. FIG. 14 is a diagram showing a state of laser light irradiation when the robot shown in FIG. 12C runs between ridges. FIG. 15 is a diagram showing a state in which the robot cannot advance due to the mud between the ridges. FIG. 16 is a flow chart for explaining the motion of the robot when it escapes from the mud. FIG. 17 is a functional block diagram showing a configuration example of the robot. FIG. 18 is a table for explaining various sensors. FIG. 19 is a diagram for explaining an operation example when the robot moves between adjacent ridges. FIG. 20 is a flow chart for explaining the motion of the robot when it moves between adjacent ridges. FIG. 21 is a functional block diagram showing a configuration example of the robot. FIG. 22 is a diagram for explaining an operation example when the robot moves between adjacent ridges. FIG. 23 is a flow chart for explaining the motion of the robot when it moves between adjacent ridges. FIG. 24 is a diagram for explaining an example of movement of the robot between ridges. FIG. 25 is a flow chart for explaining the motion of the robot when it moves between adjacent ridges.

<<First Embodiment>>
Hereinafter, an agriculture support system S according to a first embodiment of the present invention will be described with reference to the drawings.

<Configuration>
FIG. 1 is a schematic configuration diagram showing a configuration example of an agriculture support system S. As shown in FIG. As shown in FIG. 1, the agricultural support system S includes a robot 101, a server 102 and a terminal 103 connected via a network N. Note that the server 102 may be either a cloud server or an on-premises server. Further, the server 102 may consist of multiple servers.

The server 102 includes, for example, a computer including a CPU, a ROM, a RAM, an interface I/F, etc., a data writable and readable storage device, and the like. For convenience, the server 102 may also be called an "information processing device". The terminal 103 is, for example, an information terminal such as a personal computer, smart phone, or tablet terminal.

Charging station 104 is located at farm 118 (see FIG. 4 below). Charging station 104 supplies power wired or wirelessly to robot 101 waiting at charging station 104 and/or traveling within farm 118 .

The robot 101 is a mobile body that performs monitoring work of the farm 118 by autonomously traveling (autonomously moving) within the farm 118 in cooperation with the server 102 and the terminal 103 . The robot 101 functions as an agricultural support robot for supporting agriculture. FIG. 2 is a functional block diagram showing a configuration example of the robot 101. As shown in FIG. FIG. 3 is a perspective view showing the appearance of the robot 101. As shown in FIG.

As shown in FIGS. 2 and 3, the robot 101 includes a control device 105, a monitoring device 106, an external sensor 107, an internal sensor 108, a communication unit 109, an antenna 110, a GNSS (Global Navigation Satellite System) unit 111, a motor 112, A pair of drive shafts 113 , a pair of drive wheels 114 , a power supply 115 and a battery 116 are included. For convenience, the external sensor 107 may also be referred to as a "first information acquisition device". For convenience, the internal sensor 108 may also be referred to as a "second information acquisition device".

The control device 105 is an arithmetic processing device such as a microprocessor, and performs overall control of the robot 101 (control of the operation of the robot 101). The control device 105 includes, for example, a CPU, ROM, RAM, interface I/F, and the like. Controller 105 includes a timer 105a. The timer 105a is used to measure the time and/or duration and to execute interrupt processing.

Controller 105 is connected to monitoring device 106 , external sensors 107 and internal sensors 108 . The control device 105 is configured to receive data acquired by each of the monitoring device 106 and each sensor.

The monitoring device 106 is an imaging device (eg, camera). The monitoring device 106 acquires a monitoring image (monitoring data), which is a captured image of the periphery of the robot 101 , by capturing a predetermined range around the robot 101 (for example, a predetermined range in front), and transmits the monitoring image to the control device 105 . .

The external sensor 107 is a sensor for acquiring information (also referred to as “external sensor data”) external to the robot 101 . The external sensor 107 acquires information from the outside of the robot 101 and transmits it to the control device 105 .

The external sensor 107 is typically a depth sensor (LiDAR (Light Detection And Ranging). The external sensor 107 is a LADAR (Laser Detection And Ranging) sensor, ToF (Time of Flight), a stereo camera, an ultrasonic sensor , proximity sensor (infrared sensor, magnetic sensor, etc.), heat sensor (e.g., far infrared sensor), temperature sensor, humidity sensor, gas sensor that detects gas concentration (e.g., _CO2 concentration), illuminance sensor, etc. .

The internal sensor 108 is a sensor for acquiring information (sometimes referred to as “internal sensor data”) regarding the state of the robot 101 used for controlling autonomous movement of the robot 101 . The internal sensor 108 includes, for example, a gyro sensor, an acceleration sensor, a magnetic sensor, a temperature sensor, a power supply voltage sensor, a remaining battery level sensor, and the like. The internal sensor data includes, for example, the orientation of the robot 101, the tilt (inclination angle) of the robot 101, the acceleration of the robot 101, the speed of the robot 101, the rotation angle (turning angle) of the robot 101, geomagnetism, and the like. The internal sensor 108 acquires internal sensor data and transmits it to the control device 105 .

Furthermore, the control device 105 is connected to the communication section 109 and the GNSS section 111 . The communication unit 109 wirelessly communicates with an external computer (such as the server 102) via the antenna 110, and communicates with other robots and base stations for the GNSS unit 111 to estimate (acquire) self-position information. It is a communication interface for

The GNSS unit 111 acquires self-position information indicating the current position of the robot 101 from positioning satellites, and transmits the acquired self-position information to the control device 105 . For the sake of convenience, the GNSS unit 111 may also be referred to as a “positional information acquisition device”.

The control device 105 identifies the current position of the robot 101 based on the self-position information. Further, the control device 105 identifies relative positions to the ridges (for example, relative positions to the ridges in the width direction between the ridges) based on the external sensor data and the internal sensor data.

Furthermore, the controller 105 is connected to two motors 112 . Each of the two motors 112 generates torque for rotating (driving) the drive shaft 113 corresponding to each motor 112 by electric power supplied to the motor 112 from the power supply section 115 . The motor 112 can rotate the drive wheel 114 corresponding to each drive shaft 113 with this torque. The control device 105 sends commands to the motor 112 and controls the power supplied to the motor 112 to adjust the magnitude and direction of the torque generated by the motor 112, thereby controlling the rotational speed and rotation of the drive wheels 114. You can freely control the direction.

As shown in FIG. 3, the surfaces 114a of the left and right driving wheels 114 have a characteristic shape (for example, a V-shaped planar shape in which convex portions and concave portions are repeated). As a result, the robot 101 can more easily trample the grass existing on the passage path of the drive wheels 114 . In order to increase the contact area of the left and right drive wheels 114 with the ground, it is preferable that the width of the drive wheels 114 is set wider. From the viewpoint of trampling the grass, the drive wheels 114 preferably have a weight that can crush the grass.

The power supply unit 115 supplies electric power stored in the battery 116 to the control device 105 and each unit of the robot 101 in order to operate the robot 101 . The battery 116 stores electric power supplied from the charging station 104 (see FIG. 1) by wire or wirelessly.

The control device 105 controls the running of the robot 101 by controlling the motor 112 to drive the drive shaft 113 . For example, when the robot 101 moves straight forward, the control device 105 controls, for example, the left driving wheel 114 (hereinafter also referred to as "left wheel") and the right driving wheel 114 (hereinafter also referred to as "right wheel"). ) at the same speed, for example, in the forward rotation direction corresponding to the direction in which the robot 101 moves forward.

For example, when the robot 101 moves straight backward, the control device 105 drives the drive shaft 113 so that the left wheel and the right wheel rotate at the same speed in the backward rotation direction corresponding to the direction in which the robot 101 moves backward. do.

For example, if the robot 101 turns in a right turning direction, the controller 105 may, for example, activate the motors 112 such that the left wheels are faster than the right wheels and the left and right wheels rotate in the same forward direction of rotation. drive. For example, when the robot 101 turns to the left, the controller 105 drives the motor 112 so that the right wheel is faster than the left wheel and the left and right wheels rotate in the same forward direction. do. When the robot 101 changes its traveling direction on the spot, for example, the control device 105 drives the motor 112 so that the right wheel and left wheel rotate at the same speed in opposite directions.

In this way, the control device 105 can freely control the movement (running) of the robot 101 by controlling the motor 112 . That is, the control device 105 can freely control the movement of the robot 101 so as to advance, retreat, turn, curve, adjust the traveling direction, avoid obstacles, stop, and the like. For convenience, the motor 112, the drive shaft 113 and the drive wheels 114 may also be referred to as a "travel device".

<Robot operation 1 (monitoring operation (data collection), weed control operation, obstacle avoidance operation)>
The robot 101 monitors the farm 118 and crops by acquiring a monitoring image by capturing an image of the surroundings of the robot 101 using the monitoring device 106 while autonomously traveling on the farm 118 . FIG. 4 is a plan view of a farm 118 on which the robot 101 runs. FIG. 5 is a schematic diagram schematically showing how the robot 101 runs between the furrows 120 of the farm 118. As shown in FIG.

Note that in the examples of FIGS. 4 and 5, one robot 101 is in charge of monitoring one farm 118 . However, without being limited to this, a plurality of robots 101 may divide an area of one farm 118 and take charge of monitoring. Alternatively, one farm 118 may be monitored by a plurality of robots 101 with different collection data or functions.

Farm 118 has furrows 119 and interfurrows 120 in which crops are planted. In this specification, the space between two row-shaped ridges 119 adjacent to each other is referred to as a ridge gap 120 .

Although not shown in FIG. 5, the farm 118 may not have ridges 119 and have pathways between crops, such as an orchard. In this specification, in this case, the area where the crops are present corresponds to the ridge 119 and the passage between the crops corresponds to the inter-ridge 120 .

Furthermore, although not shown in FIG. 5, the ridges 119 may be covered with mulch sheets, non-woven fabrics, cut plants, etc. for protecting crops and soil. .

A charging station 104 serving as the home position of the robot 101 is installed in the farm 118 .

The robot 101 and the external server 102 store a plan view of a farm 118 created in advance, for example, as shown in FIG. 4, as map information (hereinafter referred to as "farm map"). For example, the farm map is stored in ROM of controller 105 of robot 101 . The farm map is also stored in a storage device included in server 102 . When creating a farm map, when creating a ridge 119 in the farm 118, for example, the position of the tractor can be traced, the ridge 119 can be measured with a drone after the ridge 119 is created, or the robot 101 can actually run remotely to create the ridge. 119 and the positions of ridges 120 (ridge information) are surveyed. A farm map is created based on these survey results. In the farm map, the positions of ridges 119 and between ridges 120 are associated with position information (for example, latitude and longitude) on the farm map. Therefore, each of the robot 101 and the server 102 can specify the position of the ridge 119 and the position of the space between the ridges 120 in the farm based on the farm map.

The robot 101 starts from the charging station 104 and returns to the charging station 104 by going around a route including the ridge 120 indicated by the arrow in FIG. , autonomously travels within the farm 118 .

Such autonomous running of the robot 101 can be performed by the controller 105 controlling the motor 112 based on at least one of the farm map, external sensor data, internal sensor data, and self-location information.

For example, the robot 101 sets an autonomous travel route based on a farm map, and travels along the autonomous travel route based on self-location information.

Furthermore, while the robot 101 is autonomously traveling, based on the external sensor data, the internal sensor data, and the self-position information, the robot 101 runs between the crops as a passage so as not to run over the crops, or runs over the ridges 119 . In addition, the ridge 120 is used as a passageway.

While autonomously traveling, the robot 101 acquires (collects) data about the farm 118 using the monitoring device 106 and the external sensor 107 and transmits the acquired data to the server 102 . After acquiring the data, the server 102 processes and manages (stores) the data.

The data processing and transmission of the robot 101 and the data processing of the server 102 will be described in more detail below with reference to FIG. FIG. 6 is a diagram for explaining the relationship between the monitoring image 121 of the ridge 120 and the monitoring image 121 saved in the server 102. FIG.

While the robot 101 is autonomously traveling, the robot 101 acquires a monitoring image 121 of the furrow 120 by the monitoring device 106 . In addition, in the monitoring image 121 of the ridge 120 in FIG. 6, the ridge 120 where the robot 101 is running, the ridges 119 on both sides of the ridge 120, and obstacles such as weeds 122 existing in the ridge 120 are present. .

The robot 101 acquires the monitoring image 121 of the ridge 120, the time when the monitoring image 121 of the ridge 120 was acquired (the time acquired by the timer 105a), and the self-location information (self-location information acquired by the GNSS unit 111 or the like). and The robot 101 transmits to the server 102 via the communication unit 109 the monitoring image 121 of the ridge 120 and the data set of the self-location information and the time.

Server 102 has farm map data 123, which is a farm map, as described above. When the data set is received from the robot 101, the server 102 associates the monitoring image 121 of the ridge 120, the acquisition time of the monitoring image 121 of the ridge 120, and the position information in the farm map data 123 corresponding to the self-position information. to save. This allows server 102 to identify where and when surveillance image 121 of furrow 120 was captured within farm 118 . That is, the server 102 can identify the acquisition time and the acquisition position within the farm 118 of the monitoring image 121 of the furrow 120 .

Furthermore, the data processing and transmission of the robot 101 and the data processing of the server 102 will be described more specifically with reference to FIG. FIG. 7 is a diagram for explaining the relationship between the monitoring image 121 of the ridge 120 and the monitoring image 121 saved in the server 102. FIG.

When acquiring the monitoring image 121 between the ridges 120 , the robot 101 acquires the monitoring image 124 between the ridges 120 stored in the server 102 in association with the same position as the acquired position of the monitoring image 121 between the ridges 120 . It also performs processing to read out to For convenience of explanation, the monitor image 124 of the ridge 120 read by the control device 105 is hereinafter referred to as "read monitor image 124".

After that, when the monitoring image 121 of the ridge 120 is acquired, the robot 101 compares the "obtained monitoring image 121 of the ridge 120" with the "read monitoring image 124". Robot 101 determines whether a small obstacle (eg, weeds 122) is present based on the comparison result.

For example, the robot 101 compares heights of obstacles present at the same position based on the monitoring image 121 and the readout monitoring image 124 . The robot 101 detects a small obstacle (weeds 122) exists. Furthermore, when the robot 101 determines that the obstacle newly appears in the monitoring image 121 and that the height of the obstacle is smaller than a predetermined first threshold, based on the monitoring image 121 and the readout monitoring image 124 Determine that there is a small obstacle.

When the robot 101 determines that there is a small obstacle, it continues autonomous running. As a result, the robot 101 performs a "weed control" operation of stepping on a small obstacle (weeds 122) by passing the driving wheels 114 over the small obstacles (weeds 122). Note that the newly acquired monitoring image 121 of the furrow 120 is processed in the same manner as described above and stored in the server 102 .

Furthermore, the data processing and transmission of the robot 101 and the data processing of the server 102 will be described more specifically with reference to FIG. FIG. 8 is a diagram for explaining the relationship between the monitoring image 121 of the ridge 120 and the monitoring image 124 saved in the server 102. FIG.

As described above, when acquiring the monitoring image 121 between the ridges 120 , the robot 101 acquires the monitoring image 121 between the ridges 120 stored in the server 102 in association with the same position as the acquired position of the monitoring image 121 between the ridges 120 . 124 to the control device 105 is also performed.

After that, when the monitoring image 121 of the ridge 120 is acquired, the robot 101 compares the "obtained monitoring image 121 of the ridge 120" with the "read monitoring image 124". Robot 101 determines whether a large obstacle (eg, stone 125) exists based on the comparison result. For example, the robot 101 recognizes obstacles that exist in the monitoring image 121 but not in the readout monitoring image 124 based on the monitoring image 121 and the readout monitoring image 124 . The robot 101 determines that a large obstacle exists when the height of the recognized obstacle is equal to or higher than a predetermined first threshold.

The robot 101 stops traveling when it determines that a large obstacle exists. Note that the newly acquired monitoring image 121 of the furrow 120 is processed in the same manner as described above and stored in the server 102 .

When the robot 101 stops, the communication unit 109 is used to transmit information indicating that the robot 101 has stopped to the terminal 103 via the network N. FIG. Upon receiving the information indicating that the robot 101 has stopped, the terminal 103 notifies the user of the terminal 103 that the robot 101 has stopped. For example, the terminal 103 notifies the user that the robot 101 has stopped by displaying an image indicating that the robot 101 has stopped on the display screen of the terminal 103 . This allows the user to quickly recognize that the robot 101 has stopped due to a large obstacle even when the user is away from the robot 101 (for example, when not at the farm 118).

<effect>
As described above, according to the agriculture support system S according to the first embodiment, the robot 101 takes an image of the inside of the farm 118 while autonomously traveling between the furrows 120 in the farm 118 . As a result, the agriculture support system S can acquire various data regarding the farm 118 and the crops in the farm 118 without imposing a burden on the user (farmer) of the agriculture support system S. Furthermore, according to the agricultural support system S, when the obstacle is small enough for the robot 101 to step on, the robot 101 performs a weed control operation. If the obstacle is too large for the robot 101 to step on, the robot 101 stops running to avoid colliding with the obstacle. As a result, the farming support system S can autonomously perform weed control while preventing the robot 101 from colliding with a large obstacle and interrupting the weed control, thereby preventing the user from performing agricultural work. The burden of (weed control work) can be reduced.

<<Second embodiment>>
An agriculture support system according to a second embodiment of the present invention will be described. An agricultural support system according to the second embodiment of the present invention uses a robot 200 shown in FIG. The robot 200 has the same configuration as the robot 101 of the first embodiment, and is characterized by having an external sensor 201 capable of detecting obstacles as the external sensor 107 . A depth sensor (LiDAR (Light Detection And Ranging)), a LADAR (Laser Detection And Ranging) sensor, a ToF (Time of Flight), a stereo camera, or the like can be used as the external sensor 201, for example. In this example, the external sensor 201 uses a two-dimensional LiDAR capable of scanning laser light in the horizontal direction. The agriculture support system according to the second embodiment has the same configuration as that of the first embodiment except for the above configuration.

FIG. 10 is a schematic diagram schematically showing how the robot 200 runs on the farm 118. As shown in FIG. As shown in FIG. 10, the robot 200 is required to run between ridges 120 of a limited width while trampling grass (not shown) without contacting or running over the ridges 119 . Therefore, the robot 200 has a traveling track 211 (the robot 200 moves along the ridge 120) so as not to come into contact with the ridge side 208 of the ridge 119 and the obstacle 210 (see FIG. 11 to be described later) generated on the ridge side 208. It is necessary to accurately travel along a travel track 211 (see FIG. 11 described later) that connects the positions of the ridges 119 in the width direction so as not to contact the ridges 120 . When the robot 200 deviates from such a traveling track 211, there is a risk that the ridge side 208 will be scraped and the ridge 119 will be damaged by contacting the ridge side 208 or the obstacle 210 or riding on the ridge 119. .

In contrast, the robot 200 has an external sensor 201 . The robot 200 senses a collision with an obstacle 210 that occurs on the ridge side surface 208 by an external sensor 201 . When the robot 200 senses the obstacle 210 , the robot 200 runs so as to avoid colliding with the obstacle 210 so as not to damage the ridges 119 .

FIG. 11 is a diagram for explaining the robot 200 traveling between the ridges 120 while detecting the ridge side surface 208 and the obstacle 210 by the external sensor 201. FIG.

As shown in FIG. 11, the robot 200 uses an external sensor 201 to irradiate a predetermined range in front of the robot 200 (direction of movement) with a laser beam 212 while scanning left and right in the horizontal direction. The robot 200 detects the distance and direction of the ridge side surface 208 and the obstacle 210 protruding from the ridge side surface 208 to the robot 200 based on the rebound time of the laser beam 212 that bounces off the ridge side surface 208 and the obstacle 210 .

Furthermore, the robot 200 recognizes the shape of the ridge side surface 208 and the shape of the obstacle 210 in the irradiated range by traveling while continuously emitting the laser light 212 from the external sensor 201 . That is, when the robot 200 travels while continuously irradiating the laser beam 212 from the external sensor 201, the laser beam 212 is emitted within the object (ridge side surface 208, obstacle 210) in the irradiated range irradiated with the laser beam 212. Differences in the bounce time and the distance and orientation of the object relative to the robot 200 based on this result. The robot 200 recognizes the shape of the object (ridge side surface 208 and obstacle 210) in the irradiated range based on the difference in the distance and direction of the object with respect to the robot 200 that occurs in the irradiated range of the laser beam 212 .

By recognizing the distance from the ridge side 208 and the obstacle 210, the robot 200 estimates (specifies) a finer position (relative position to the ridge 119) in the width direction of the ridge 120 where the robot 200 exists (during running). It becomes possible to For example, the robot 200 can accurately identify a finer position in the width direction between the ridges 120 of the robot 200 by estimating (identifying) the distances from both sides of the ridges 120 .

Therefore, the robot 200 moves along the traveling track 211 connecting the center positions in the width direction of the ridges 120 based on the distance (or the reflection time of the laser light 212) from each of the ridge side surfaces 208 on both sides of the ridges 120 to the robot 200. and can run.

Specifically, the robot 200 irradiates the ridge side surface 208 and the obstacle 210 with the laser beam 212 in a predetermined range in the traveling direction, and illuminates the position where the reflection time from the ridge side surface 208 and the obstacle 210 is uniform (that is, It travels while performing calculations for deriving the travel trajectory 211). That is, the robot 200 is controlled by the control device 105 so as to travel along a position where the reflection time from the ridge side surface 208 is uniform, so that the robot 200 travels along the travel track 211 connecting the centers of the ridges 120 in the width direction. be able to.

Furthermore, even if there is an obstacle 210 between the ridges 120, the robot 200 can move between the ridges 120 while avoiding the obstacle 210 based on the distance to the obstacle 210 detected by the external sensor 201 and the position of the obstacle 210. can run along the running track 211 set at the center in the width direction of the .

That is, even if there is an obstacle 210 between the ridges 120, the robot 200 can avoid the obstacle 210 and travel along the traveling track 211 set at the center of the ridge 120 in the width direction. Therefore, the robot 200 can travel along the center travel track 211 in the width direction of the ridges 120 even when the ridges 120 have a meandering and curved shape, for example.

Therefore, when the robot 200 travels between the ridges 120, the possibility of the robot 200 contacting the ridge side surface 208 of the ridge 120 or the obstacle 210 can be reduced. As a result, the robot 200 can prevent the ridges 119 from being damaged and partially collapsed due to autonomous travel.

12A and 12B are diagrams for explaining the attachment structure of the external sensor 201. FIG. As shown in FIGS. 12A and 12B, when the emission direction of the laser beam 212 of the external sensor 201 mounted on the robot 200 is horizontal with respect to the ground, the height and shape of the ridges 119 are different depending on the cultivated crops. As a result, the following may occur.

As shown in FIG. 12A, when the height of the ridge 119 is higher than the robot 200 (more precisely, the position of the emitting portion 201a of the laser beam 212), the ridge side surface 208 of the ridge 119 is irradiated with the laser beam 212. can be done. Therefore, in this case, the robot 200 can recognize the ridge side surface 208 (ridge 119). On the other hand, as shown in FIG. 12B , if the height of the ridge 119 is lower than that of the robot 200 , the ridge side surface 208 of the ridge 119 is not irradiated with the laser beam 212 . Therefore, in this case, the robot 200 cannot recognize the ridge side surface 208 (ridge 119).

In this way, when the emission direction of the laser light 212 of the external sensor 201 mounted on the robot 200 is set horizontally with respect to the ground, due to the height and shape of the ridges 119 that change according to the type of cultivated crop, It may occur that the robot 200 cannot recognize the ridge side 208 of the ridge 119 .

On the other hand, the attachment structure of the external sensor 201 to the robot 200 may be made movable. That is, the external sensor 201 may be attached to the robot 200 so as to be movable with respect to the robot 200 so that the direction of the emitting portion 201a that emits the laser beam 212 can be freely changed.

When the mounting structure of the external sensor 201 is made movable in this way, the robot 200 can freely change the emission direction of the laser light 212 of the external sensor 201 according to the change in the height and shape of the ridge 119 . Thereby, the robot 200 can more reliably recognize the ridge side surface 208 of the ridge 119 by the external sensor 201 . Thus, the robot 200 is capable of recognizing ridges 119 with different types of cultivated crops.

FIG. 12C is a diagram showing a configuration example of the robot 200 in which the mounting structure of the external sensor 201 is movable. The external sensor 201 is mounted on the robot 200 so that it can tilt forward freely with respect to the vertical axis of the robot 200 perpendicular to the ground. That is, the axis of the external sensor 201 perpendicular to the emitting portion 201a (the emitting direction of the laser beam 212) can be freely tilted forward by a predetermined angle with respect to the vertical axis of the robot 200. is attached to the robot 200 as shown. In FIG. 12C, the external sensor 201 is shown attached to the robot 200 in a state where it can be tilted forward with respect to the vertical axis by about 30°. As shown in FIG. 12C, the external sensor 201 is attached in a state of being inclined forward with respect to the vertical direction of the ground, so that the emitting portion 201a of the laser beam 212 is directed obliquely downward. Therefore, the robot 200 can use the external sensor 201 to irradiate the ridge side surface 208 of the ridge 119 lower than the height of the robot 200 (more strictly, the height of the position of the laser beam 212 emitting portion 201a).

13 and 14 show the irradiation state of the laser beam 212 when the robot 200 shown in FIG. 12C travels between the ridges 120. FIG. In the example shown in FIGS. 13 and 14, the robot 200 travels between the ridges 120 in the direction indicated by the arrow a1 at a constant speed from time t0, and emits a laser beam from the external sensor 201 at regular time intervals (every predetermined time T1). 2 shows an irradiation state of a laser beam 212 when the laser beam 212 is irradiated.

The external sensor 201 is in a state in which the emitting portion 201a thereof faces obliquely downward. Therefore, as shown in FIGS. 13 and 14, the laser beam 212 extends from the top to the bottom of the ridges 119 on the left and right sides of the robot 200 (the boundaries between the ridge side surfaces 208 and the ridges 120) and the ridges 120. is irradiated.

Therefore, the robot 200 can determine the surface shape of the ridge 120, objects (obstacles) present in the ridge 120, the shape of the ridge side 208 (including the obstacle 210 occurring on the ridge side 208), and the ridge 120 and the ridge side 208. (that is, the position of the ridge 119) can be more reliably recognized (detected). Therefore, by recognizing the boundary between the ridge 120 and the ridge side surface 208, the robot 200 can also detect the curved ridge 120 and the obstacle 210 formed in the ridge 120, and detect the traveling trajectory connecting the center of the recognized ridge 120. 211 can be run through furrows 120 .

Furthermore, as described above, if the external sensor 201 has a movable structure that can be tilted forward, the robot 200 can more reliably operate even if an inexpensive two-dimensional LiDAR is used as the external sensor 201. Ridges 119, ridges 120 and obstacles 210 can be discerned.

<Robot Operation 2 (Stuck Clearing Operation)>
FIG. 15 shows the state of the robot 200 stuck in the mud 222 between the ridges 120 . Between the ridges 119 between the ridges 119 where crops are grown, the surface of the ridges 120 becomes uneven due to weather or human intervention, and water accumulates on the unevenness, resulting in puddles or muddy soft areas. (ie, slush 222 ) may form between furrows 120 .

If such puddles and mud 222 are present in the furrow 120 in which the robot 200 is traveling, they will impede the progress of the robot 200 (for example, cause it to become stuck), thereby preventing the robot 200 from progressing. end up

For example, as shown in FIG. 15, if there is mud 222 between the ridges 120 in which the robot 200 is running, the robot 200 gets stuck in the mud 222 and cannot move forward (i.e., the robot 200 becomes stuck). ) can occur.

In response to this, the robot 200 performs an operation for removing the stack (stuck removal operation), as described below. FIG. 16 is a flow chart for explaining an example of the stack clearing operation executed by the robot 200. FIG. Note that each operation (process) of the robot 200 shown in FIG. 16 is executed by the control device 105 .

The robot 200 proceeds to step 261 when detecting the stop of forward running in step 260 . At step 261, the robot 200 determines whether or not the robot 200 is oriented in the course direction (forward direction in this example). If the orientation of the robot 200 is not in the course direction, the robot 200 determines “No” in step 261 and proceeds to step 262 . At step 262, the robot 200 retreats by a predetermined distance, and then turns to correct the orientation of the robot 200 so that it is in the course direction.

If the orientation of the robot 200 is in the course direction, the robot 200 determines “Yes” in step 261 and proceeds to step 263 . At step 263, the robot 200 determines whether or not the robot 200 is tilted (whether the robot 200 is tilted).

If the robot 200 is tilted, the robot 200 determines "No" in step 263, proceeds to step 264, and returns to a position where the posture of the robot 200 becomes a normal posture (non-tilted posture). Then go to step 265 .

If the robot 200 is not tilted, the robot 200 determines "Yes" in step 263 and proceeds to step 265 to determine whether the drive wheels 114 are rotating.

If the drive wheels 114 are not rotating, the robot 200 makes a "No" determination in step 265, proceeds to step 266, and stops its operation.

If the drive wheels 114 are rotating, the robot 200 determines "Yes" in step 265, proceeds to step 267, attempts to move forward, proceeds to step 267, and determines that there is no change in the predicted course position in the course direction. Determine whether or not there is It should be noted that the predicted course position is a position where the robot 200 is predicted to travel. For example, the predicted course position is a position a predetermined distance ahead of the current position of the robot 200 in the traveling direction of the robot 200 . Therefore, when the position of the robot 200 changes (for example, forward by a predetermined distance), the predicted course position also changes (for example, forward by a predetermined distance).

If there is a change in the predicted course position, it is considered that the robot 200 is not in a stuck state or that the stuck state has already been resolved. move on. At step 281, the robot 200 corrects its own position (that is, corrects the position so as to return to the traveling track 211 when deviated from the traveling track 211). The robot 200 then proceeds to step 282 and resumes forward travel.

If there is no change in the predicted course position, it is conceivable that the robot 200 is stuck. Therefore, in this case, the robot 200 makes a “Yes” determination in step 268 , proceeds to step 270 , starts stack elimination processing, and proceeds to step 271 . The robot 200 advances to step 271 and repeats forward and backward rotations a predetermined number of times by rotating both of the two-axis drive wheels 114 in the same forward rotation direction and rotating them in the reverse rotation direction a predetermined number of times. Perform the first action.

The robot 200 advances to step 272 to set the rotational speed of the driving wheels 114 lower than the rotational speed of the first operation, and rotates both of the driving wheels 114 on the two axes in the same forward rotational direction and in the reverse rotational direction. By repeating the rotation for a predetermined number of times, the second motion of repeating forward movement and backward movement for a predetermined number of times is performed.

The robot 200 proceeds to step 273 and determines whether or not it can move to the predicted course position. That is, the robot 200 attempts to move to the predicted course position, and determines whether or not it has been able to move to the predicted course position.

If the robot 200 cannot move to the predicted course position, the robot 200 makes a "No" determination in step 273, proceeds to step 274, and starts execution of a stack elimination turning motion that repeats turns of a predetermined angle. The robot 200 advances to step 275 and rotates one of the two drive wheels 114 in the forward rotation direction and rotates the other of the two drive wheels 114 in the reverse rotation direction, thereby rotating a predetermined first angle (45°). turn in the first turning direction. Further, the robot 200 rotates one of the two drive wheels 114 in the backward rotation direction and rotates the other of the two drive wheels 114 in the forward rotation direction, thereby rotating the robot 200 to the first angle (45°) by a predetermined first angle (45°). It turns by a predetermined first angle (45°) in a second turning direction opposite to the turning direction. Further, after turning in the first turning direction by a predetermined angle (90 degrees), the robot 200 turns in the second turning direction by a predetermined angle (90 degrees). The above-described first stack elimination turning motion is repeated for a predetermined number of times.

The robot 200 proceeds to step 276 and performs a second destucking turn motion similar to the first destucking turning motion, except that the rotational speed of the drive wheels 114 is changed by a predetermined speed (eg, decreased by a predetermined speed). is repeated a predetermined number of times.

After proceeding to step 277, the robot 200 determines again whether it is possible to return (movable) to the predicted course position. That is, the robot 200 attempts to move to the predicted course position, and determines whether or not it has been able to move to the predicted course position.

If the robot 200 cannot move to the predicted course position, the robot 200 makes a "No" determination in step 277, proceeds to step 278, and executes the above-described first and second stack turning avoidance motions a predetermined number of times. Thereafter, whether or not the robot 200 can return to the predicted course position is determined after a predetermined time has elapsed or after the second stack turning avoidance operation has been performed a predetermined number of times. Execute repeatedly until it is determined that the position can be reverted to. When the predetermined time has passed, the robot 200 stops its operation.

If it is determined that the robot 200 can return to the predicted course position, it is considered that the stuck state has been resolved. and go to step 281 . At step 281, the robot 200 corrects its own position. The robot 200 then proceeds to step 282 and resumes forward travel.

<effect>
The agricultural support system according to the second embodiment has the same effects as the agricultural support system S according to the first embodiment. Furthermore, according to this agricultural support system, even if the robot 200 gets stuck in the mud 222, for example, the robot 200 can autonomously remove the stuck. Therefore, this farming support system can collect data of the farm 118 without imposing a burden on the user.

<<Third Embodiment>>
An agricultural support system according to a third embodiment of the present invention will be described. An agricultural support system according to the third embodiment of the present invention uses a robot 300 shown in FIG. The robot 300 is the same as the robot 101 of the first embodiment, except that the control device 105 further includes a storage device 105b and that instead of the external sensor 107, a right ridge detection sensor 301a and a left ridge detection sensor 301b are provided. has a configuration of The agriculture support system according to the third embodiment has the same configuration as that of the first embodiment except for the above configuration.

As shown in FIG. 18, the right ridge detection sensor 301a provides information about the relative relationship between the robot 300 and objects (for example, ridges, obstacles, etc.) existing around the robot 300 (for example, information about the relationship between the robot 300 and the object). The distance (distance information) and the direction of the object) are acquired, and the acquired information is transmitted to the control device 105 . The right ridge detection sensor 301a is a sensor that can acquire information about the relative relationship between an object and the robot 300, and is, for example, an ultrasonic sensor, a proximity sensor (magnetic sensor, etc.), an optical sensor (infrared sensor, etc.), or the like. .

The left ridge detection sensor 301b detects information about the relative relationship between the robot 300 and objects (for example, ridges and obstacles) existing around the robot 300 (for example, the distance between the robot 300 and the object (distance information) , direction of the object) and transmits the acquired information to the control device 105 . The left ridge detection sensor 301b is a sensor that can acquire information about the relative relationship between an object and the robot 300, and is, for example, an ultrasonic sensor, a proximity sensor (magnetic sensor, etc.), an optical sensor (infrared sensor, etc.), or the like. .

When information is acquired from the right ridge detection sensor 301a and the left ridge detection sensor 301b, the control device 105 acquires link information (for example, position information, direction of the object, direction of the object, etc.) related to the same object acquired by other sensors at the same time. inclination, height of an object, etc.). For convenience of explanation, "information acquired from right ridge detection sensor 301a and left ridge detection sensor 301b" and/or link information may also be referred to as "object information". The control device 105 controls the motor 112 based on the object information. For example, the control device 105 controls the motor 112 based on the object information so that the robot 300 runs while avoiding contact with ridges and collision with obstacles.

As described above, the internal sensor 108 detects, for example, the tilt of the robot 300, the moving direction of the robot 300, the speed of the robot 300, geomagnetism, the direction (orientation) of the robot 300, the rotation angle (turning angle) of the robot 300, and the like. It acquires and transmits the acquired information to the control device 105 . The internal sensor 108 is, for example, a gyro sensor, an acceleration sensor, a magnetic sensor, or the like.

<Action 3 of the robot (movement to adjacent ridge)>
FIG. 19 is a diagram for explaining an example of movement of the robot 300 between adjacent ridges. As shown in FIG. 19, on the farm 118, ridges A 321a, B 321b and C 321c are arranged in this order from left to right. Between adjacent ridges A321a and ridges B321b, ridges A322a are formed, and between adjacent ridges B321b and ridges C321c, ridges B322b are formed. An example in which the robot 300 moves from the furrow A322a to the furrow B322b in such a farm 118 will be described below. In this example, when the robot 300 moves to the adjacent ridge B322b, the robot 300 turns right by 90 degrees. You may make it 270-degree left turn.

FIG. 20 is a flowchart for explaining an operation example when the robot 300 moves from the ridge A 322a to the adjacent ridge B 322b. Each operation (process) of robot 300 shown in FIG. 20 is executed by control device 105 .

At step 360, robot 300 is traveling straight through furrow A322a. When the robot 300 is traveling straight through the ridge A322a (for example, existing at the ridge moving position ridge A323a between the ridges), the robot 300 detects the ridge A321a (object) with the right ridge detection sensor 301a, and detects the ridge A321a (object) with the left ridge detection sensor. A ridge B321b (object) is detected by 301b.

The robot 300 proceeds to step 361 and determines whether or not the right ridge detection sensor 301a and the left ridge detection sensor 301b both detect objects (ridge A 321a and ridge B 321b) while traveling straight.

The robot 300 goes over one end of the ridge A322a and goes straight to a position where the right ridge detection sensor 301a and the left ridge detection sensor 301b cannot detect the ridge A321a and the ridge B321b. Then, the robot 300 enters an undetected state in which neither the right ridge detection sensor 301a nor the left ridge detection sensor 301b detects an object.

Therefore, in step 361, in order to determine whether the robot 300 has crossed one end of the ridge A 322a, the robot 300 detects an undetected object in which both the right ridge detection sensor 301a and the left ridge detection sensor 301b have not detected an object. state. The ridge ends of the ridge A 321a and the ridge B 321b may be misaligned in the column direction due to differences in shape, collapse, or the like. Therefore, the robot 300 determines whether or not the right ridge detection sensor 301a and the left ridge detection sensor 301b have not detected an object, thereby determining whether the robot 300 has crossed one end of the ridge A 322a. is determining whether or not

If at least one of the right ridge detection sensor 301a and the left ridge detection sensor 301b detects an object in step 361, the robot 300 makes a "No" determination in step 361 and proceeds to step 362.

At step 362, the robot 300 assumes that the ridge can be detected by at least one of the right ridge detection sensor 301a and the left ridge detection sensor 301b based on the self-location information acquired by the GNSS unit 111. It is determined whether or not it exists outside the range (hereinafter referred to as "assumed ridge range"). The robot 300 identifies the assumed ridge range based on the self-location information acquired by the GNSS unit 111 and the ridges, ridge ends, and inter-ridge positions of the farm map stored in the ROM of the control device 105 . The assumed ridge range is, for example, a range including the ridge 322a and the extended range when the ridge 322a is extended (range of the extended portion extending from the edge of the ridge A322a).

If at least one of the right ridge detection sensor 301a and the left ridge detection sensor 301b detects an object (determined "No" in step 361) even though the robot 300 is outside the assumed ridge range, the robot It is conceivable that 300 is in the following states. That is, in this case, it is highly possible that the robot 300 is in a state of detecting an object (for example, an obstacle) other than the ridges at a position away from the ridge ends of the ridges A 321a and B 321b.

Therefore, if the robot 300 exists outside the expected range of the ridge, there is a possibility that the robot 300 cannot move from the ridge A 322a to the ridge B 322b. (Determination that the robot 300 is in an abnormal state) is performed. It should be noted that the robot 300 stops its operation when an abnormality determination is made.

On the other hand, when the robot 300 exists within the assumed ridge range, at least one of the right ridge detection sensor 301a and the left ridge detection sensor 301b detects an object, and the robot 300 completely crosses the edge of the ridge 322a. Not likely. Therefore, in this case, the robot 300 determines "No" at step 362, proceeds to step 360, and continues straight ahead.

In step 361, if the robot 300 has completely passed the end of the ridge 322a and both the right ridge detection sensor 301a and the left ridge detection sensor 301b no longer detect the object, the robot 300 responds in step 361 with "Yes ” and proceeds to step 364 .

At step 364, the robot 300 advances straight by the constant first specified distance stored in the storage device 105b. In addition, this fixed 1st prescribed distance may be called "1st distance" for convenience. Whether or not the robot 300 has traveled straight a certain first specified distance is determined based on the internal sensor data acquired by the internal sensor 108 by calculating the distance (for example, the distance obtained by integrating the speed over time) from the straight travel start position of the robot 300 . It is measured and determined based on the measured distance (the same applies to the second to fifth prescribed distances described later). The robot 300 may specify the first specified distance based on the self-location information and the farm map acquired by the GNSS unit 111, and store the specified first specified distance in the storage device 105b (described later). The same applies to the second to fifth prescribed distances.).

At the position when both the right ridge detection sensor 301a and the left ridge detection sensor 301b no longer detect the object (ridge A321a and ridge B321b) (hereinafter referred to as "first ridge undetected position"), the robot If the vehicle 300 goes straight after turning 90 degrees to the right, the drive wheels 114 may run over the ridge B321b. Therefore, the robot 300 needs to turn at a position separated from the first ridge undetected position by the first specified distance in the traveling direction. Therefore, in step 364, the robot 300 advances straight by the first prescribed distance and moves to the turning position A323b where the robot 300 can turn without riding on the ridge B321b.

After that, the robot 300 proceeds to step 365 and determines whether or not both the right ridge detection sensor 301a and the left ridge detection sensor 301b have detected an object. As a result, the robot 300 confirms that there are no obstacles on the left and right sides of the robot 300 at the turning position A323b using the right ridge detection sensor 301a and the left ridge detection sensor 301b.

If at least one of the right ridge detection sensor 301a and the left ridge detection sensor 301b detects an object, there is a high possibility that there is an obstacle that hinders the movement of the robot 300. A determination of “No” is made and the process proceeds to step 366 . At step 366, the robot 300 makes an abnormality determination.

When neither the right ridge detection sensor 301a nor the left ridge detection sensor 301b detects an object, the robot 300 makes a “Yes” determination in step 365 and proceeds to step 367 . In step 367, the robot 300 attempts to turn 90 degrees to the right by controlling the rotation of the driving wheels 114 at the turning position A323b, and proceeds to step 368. That is, the robot 300 attempts to turn until its orientation is perpendicular to the row direction of the ridges.

At step 368, the robot 300 determines whether or not the robot 300 has turned right by 90 degrees based on the information (internal sensor data) acquired by the internal sensor 301c.

If the robot 300 has not been able to turn 90 degrees in the right turning direction, the robot 300 makes a "No" determination in step 368, proceeds to step 369, and waits for the predetermined time stored in the storage device 105b in advance. Retry within That is, in this case, the robot 300 proceeds to step 367 and attempts to turn until it can turn 90 degrees in the right turning direction. The time required for the retry is counted by the timer 105a. The robot 300 proceeds again to step 368 to determine whether the robot 300 has turned 90° in the right turning direction. If the robot 300 has not yet turned 90 degrees to the right, the process proceeds to step 369 to determine whether or not a certain period of time has elapsed since the timer 105a started counting.

If the predetermined time has not elapsed since the timer 105a started counting, the robot 300 determines "No" in step 369 and performs the operations of steps 367 and 368 again.

If a certain period of time has elapsed since the timer 105a started counting, the robot 300 determines "Yes", proceeds to step 370, and performs an abnormality determination.

In step 368, if the robot 300 was able to turn 90 degrees in the right turning direction, the robot 300 determines "Yes" in step 368, proceeds to step 371, and stores the result in the storage device 105b. Go straight for a second specified distance. That is, the robot 300 advances straight by a constant second prescribed distance along the direction in which the ridge A321a, the ridge B321b, and the ridge C321c are arranged. Note that this constant second specified distance corresponds to a distance from the turning position A323b to a position where the ridge end of the ridge B321b can be detected by the right ridge detection sensor 301a (for example, the ridge end movement position A323c).

After that, the robot 300 proceeds to step 372 and determines whether or not the right ridge detection sensor 301a has detected an object (ridge B321b) and the left ridge detection sensor 301b has not detected an object. That is, the robot 300 determines whether or not only the right ridge detection sensor 301a is detecting the object (ridge B321b).

If the detection state of the right ridge detection sensor 301a and the left ridge detection sensor 301b is not "a state in which only the right ridge detection sensor 301a is detecting an object", the robot 300 determines "No" in step 372. Then, the process proceeds to step 373 to determine abnormality.

When only the right ridge detection sensor 301a detects the object, the robot 300 makes a "Yes" determination in step 372, proceeds to step 374, and detects the constant third specified distance stored in the storage device 105b. only go straight.

After that, the robot 300 proceeds to step 375 and determines whether or not both the right ridge detection sensor 301a and the left ridge detection sensor 301b have detected an object.

When at least one of the right ridge detection sensor 301a and the left ridge detection sensor 301b detects an object, the robot 300 makes a “No” determination in step 375 and proceeds to step 376 .

When the robot 300 proceeds to step 376, based on the self-location information acquired by the GNSS section 111, the robot 300 determines whether or not the robot 300 exists within the assumed range between the ridges of the ridge 322b.

It should be noted that the assumed range between the ridges B322b is an extension range (a range of the extension portion extending from the end of the ridge B322b) when the ridge B322b is extended to include the turning position B323d, and the robot 300 exists in that range. In this case, it is assumed that the right ridge detection sensor 301a and the left ridge detection sensor 301b do not detect the object (ridge). The robot 300 identifies an assumed range between ridges based on the self-location information acquired by the GNSS unit 111 and the ridges, ridge ends, and positions between the ridges of the farm map stored in the ROM of the control device 105 .

When at least one of the right ridge detection sensor 301a and the left ridge detection sensor 301b detects an object even though the robot 300 exists within the assumed range between the ridges of the ridge 322b ("No" determination), there is a high possibility that an obstacle or the like that hinders the movement of the robot 300 exists around the robot 300 .

Therefore, in this case, the robot 300 determines "Yes" in step 376, proceeds to step 377, and performs abnormality determination.

On the other hand, if the robot 300 exists outside the assumed range between the ridges of the ridge 322b, it is considered that the robot 300 has not reached the turning position B323d at that time. Accordingly, in this case, the robot 300 makes a “No” determination in step 376 and proceeds to step 374 , proceeds straight again by the constant third specified distance, and proceeds to step 375 .

In step 375, if neither the right ridge detection sensor 301a nor the left ridge detection sensor 301b has detected an object, the robot 300 makes a "Yes" determination in step 375, proceeds to step 378, and stores the storage device 105b. Go straight ahead for a certain fourth specified distance stored in . In addition, this fixed 4th prescribed distance may be called "2nd distance" for convenience. At the position when both the right ridge detection sensor 301a and the left ridge detection sensor 301b no longer detect the object (hereinafter referred to as the "second ridge undetected position"), the robot 300 turns to the right. If the vehicle turns 90 degrees and goes straight, the drive wheels 114 may run over the ridge B321b. Therefore, the robot 300 needs to turn at a position separated from the second ridge undetected position by the fourth prescribed distance in the traveling direction. Therefore, in step 378, the robot 300 advances straight by the fourth prescribed distance and moves to a turning position B323d where the robot 300 can turn without running over a ridge.

After that, the robot 300 proceeds to step 379 and determines whether or not both the right ridge detection sensor 301a and the left ridge detection sensor 301b have detected an object. As a result, the robot 300 uses the right ridge detection sensor 301a and the left ridge detection sensor 301b at the turning position B323d to confirm that there are no obstacles on the left and right sides of the robot 300 that hinder its movement.

When at least one of the right ridge detection sensor 301a and the left ridge detection sensor 301b detects an object, the robot 300 determines "No" in step 379, proceeds to step 380, and performs abnormality determination.

If both the right ridge detection sensor 301a and the left ridge detection sensor 301b have not detected an object, the robot 300 makes a "Yes" determination in step 379, proceeds to step 381, and rotates the driving wheels at the turning position B323d. Attempt a 90° turn in the right turn direction by controlling the rotation of 114 and proceed to step 382 . That is, the robot 300 attempts to turn until its orientation is parallel to the row direction of the ridges, and proceeds to step 382 .

At step 382, the robot 300 determines whether or not the robot 300 has turned right by 90 degrees based on the information (internal sensor data) acquired by the internal sensor 301c.

If the robot 300 has not been able to turn 90 degrees in the right turning direction, the robot 300 determines "No" in step 382, proceeds to step 383, and waits for the predetermined time stored in the storage device 105b in advance. Retry within That is, in this case, the robot 300 proceeds to step 381 and attempts to turn until it can turn 90 degrees in the right turning direction. The time required for the retry is counted by the timer 105a. The robot 300 proceeds to step 382 again to determine whether the robot 300 has turned 90 degrees to the right. If the robot 300 has not turned 90 degrees to the right, the robot 300 makes a "No" determination in step 382, proceeds to step 383, and checks whether a predetermined time has elapsed since the timer 105a started counting. judge.

If the predetermined time has not elapsed since the timer 105a started counting, the robot 300 determines "No" in step 383 and performs the operations of steps 381 and 382 again.

If a certain period of time has elapsed since the timer 105a started counting, the robot 300 determines "Yes" in step 383, proceeds to step 384, and performs an abnormality determination.

In step 382, if the robot 300 was able to turn 90 degrees in the right turning direction, the robot 300 determines "Yes" in step 382, proceeds to step 385, and stores it in the storage device 105b. Go straight for a fixed fifth specified distance. That is, the robot 300 moves straight toward the ridge B322b by a fixed fifth specified distance. In addition, this constant fifth specified distance is, for example, a position where the ridge B321b and the ridge C321c can be detected by both the right ridge detection sensor 301a and the left ridge detection sensor 301b from the turning position B323d (for example, the inter-ridge movement position B323e ).

After that, the robot 300 proceeds to step 386 and determines whether or not both the right ridge detection sensor 301a and the left ridge detection sensor 301b are detecting objects (ridge B321b and ridge C321c).

If at least one of the right ridge detection sensor 301a and the left ridge detection sensor 301b does not detect an object, the robot 300 determines "No" in step 386, proceeds to step 387, and performs abnormality determination.

If both the right ridge detection sensor 301a and the left ridge detection sensor 301b detect an object, the robot 300 makes a "Yes" determination in step 386, proceeds to step 388, and completes movement to the ridge 322b. .

Note that the robot 300 may perform an operation in which step 362A described below is added between steps 361 and 364 to the flowchart of FIG. 20 described above.

Step 362A: The robot 300 determines whether or not the robot 300 exists within the assumed ridge edge range based on the self-location information acquired by the GNSS section 111 .
The "assumed ridge end range" is, for example, a range including the ridge interval A322a and the extended range when the ridge interval A322a is extended. The “assumed ridge edge range” is assumed to be able to detect at least one ridge edge of ridges A 321a and ridges B 321b by the right ridge detection sensor 301a and the left ridge detection sensor 301b when the robot 300 exists within the range. Range. The robot 300 identifies an assumed ridge edge range based on the self-location information acquired by the GNSS unit 111 and the ridges, ridge edges, and positions between the ridges on the farm map stored in the ROM of the control device 105 .

When both the right ridge detection sensor 301a and the left ridge detection sensor 301b do not detect an object even though the robot 300 exists within the assumed ridge edge range (“Yes” is determined in step 361). When proceeding to step 362A), there is a possibility that the robot 300 is malfunctioning.

Therefore, in this case, the robot 300 determines "Yes" in step 362A, proceeds to step 363, and determines that the robot 300 is in an abnormal state.

If the robot 300 does not exist within the assumed ridge edge range, the robot 300 determines “No” in step 362A and proceeds to step 364 .

By executing the determination process (step 362A) based on the self-location information acquired by the GNSS unit 111 and the assumed ridge end range set in the farm map, the robot 300 determines that the robot 300 has left the ridge A 322a. can be determined more reliably. Furthermore, the robot 300 can determine whether the robot 300 is in an abnormal state.

Furthermore, the robot 300 may perform an operation in which step 376A described below is added between steps 375 and 378 in the flowchart of FIG. 20 described above.

Step 376A: Based on the self-location information acquired by the GNSS section 111, the robot 300 determines whether or not the robot 300 exists outside the assumed range between the ridges B322b.

When neither the right ridge detection sensor 301a nor the left ridge detection sensor 301b detects an object even though the robot 300 exists outside the assumed ridge range of the ridge B322b (determined as "Yes" and proceed to step 376A), there is a possibility that the robot 300 is malfunctioning.

Therefore, in this case, the robot 300 determines "Yes" in step 376A, proceeds to step 377, and determines that the robot 300 is in an abnormal state.

When the robot 300 does not exist outside the assumed range between the ridges of the ridge B322b (that is, when the robot 322b exists within the assumed range between the ridges of the ridge B322b), the robot 300 determines "No" in step 376A and proceeds to step 376A. Proceed to 378.

By executing the determination process (step 376A) based on the self-position information acquired by the GNSS unit 111 and the assumed ridge range set in the farm map, the robot 300 moves within the assumed ridge range of the ridge B322b. It is possible to determine with certainty that it has entered. Furthermore, the robot 300 can determine whether the robot 300 is in an abnormal state.

<effect>
The agricultural support system according to the third embodiment has the same effect as the agricultural support system according to the first embodiment. Furthermore, according to this agricultural support system, the robot 300 travels between the ridges A322a based on the object detection results of the right ridge detection sensor 301a and the left ridge detection sensor 301b, and then turns at an appropriate position to extend between adjacent ridges. You can move to B322b. Therefore, this agricultural support system prevents the robot 300 from contacting the ridge when the robot 300 autonomously traveling in the farm 118 moves to the adjacent ridge B322b, which may cause a part of the ridge to collapse. can be lowered.

<<Fourth Embodiment>>
An agricultural support system according to a fourth embodiment of the present invention will be described. In the agricultural support system according to the fourth embodiment, as shown in FIG. 21, the robot 300 has a depth sensor 301d ((LiDAR (Light Detection And Ranging)) instead of the right ridge detection sensor 301a and the left ridge detection sensor 301b. The robot 300 is controlled to move between adjacent ridges based on detection results of objects (ridges) present on the left and right sides of the robot 300 by the depth sensor 301d. A LADAR (Laser Detection And Ranging) sensor, a ToF (Time of Flight), a stereo camera, or the like may be used instead of the sensor 301d to detect the ridges present on the left and right sides of the robot 300. FIG.

<Robot operation 4 (move to adjacent ridge)>
FIG. 22 is a diagram for explaining an operation example of movement of the robot 300 between adjacent ridges using the depth sensor 301d. FIG. 22 shows a farm 118 on which ridges A321a, B321b and C321c similar to those in FIG. 19 are formed. An example in which the robot 300 moves from the furrow A322a to the furrow B322b in such a farm 118 will be described below. In this example, when the robot 300 moves to the adjacent ridge B322b, the robot 300 turns right by 90 degrees. You may make it 270-degree left turn.

FIG. 23 is a flow chart for explaining an operation example when the robot 300 shown in FIG. 21 moves from the ridge A 322a to the adjacent ridge B 322b. Each operation (process) of robot 300 shown in FIG. 23 is executed by control device 105 .

At step 390, robot 300 is traveling straight through furrow A322a. When the robot 300 is traveling straight through the ridge A322a (for example, existing at the ridge moving position C333a), the robot 300 detects the ridge A321a (object) existing on the left side of the robot 300 and the right side of the robot 300 by the depth sensor 301d. A ridge B321b (object) existing in the state is detected.

The robot 300 proceeds to step 391 and determines whether or not the depth sensor 301d detects objects (ridges A 321a and ridges B 321b) existing on the left and right sides of the robot 300 while traveling straight.

If the depth sensor 301d detects an object (at least one of the ridge A 321a and the ridge B 321b) existing on at least one of the left side and the right side of the robot 300, the robot 300 determines "No" in step 391. and proceed to step 392.

At step 392, the robot 300 exists outside the range (“assumed ridge range”) where the depth sensor 301d can detect the ridge based on the self-location information acquired by the GNSS unit 111. Determine whether or not As described above, the robot 300 determines the assumed ridge range based on the self-position information acquired by the GNSS unit 111 and the ridges, ridge ends, and inter-ridge positions of the farm map stored in the ROM of the control device 105. Identify.

If the robot 300 exists outside the expected ridge range, the robot 300 may not be able to move from the ridge interval A 322a to the ridge interval B 322b. . It should be noted that the robot 300 stops its operation when an abnormality determination is made.

On the other hand, when the robot 300 does not exist outside the assumed ridge range, the depth sensor 301d detects an object (at least one of the ridge A 321a and the ridge B 321b), and the robot 300 completely crosses the edge of the ridge 322a. Not likely. Therefore, in this case, the robot 300 determines "No" in step 392, proceeds to step 390, and continues straight ahead.

In step 391, when the robot 300 completely crosses the end of the ridge 322a and the depth sensor 301d no longer detects the object (ridge A 321a and ridge B 321b), the robot 300 determines "Yes" in step 391. and proceed to step 394.

At step 394, the robot 300 advances straight by a constant first prescribed distance stored in the storage device 105b.

After that, the robot 300 proceeds to step 395 and determines whether or not the depth sensor 301 d has detected objects on the left and right sides of the robot 300 . As a result, the robot 300 uses the depth sensor 301d at the turning position C333b to confirm that there are no obstacles on the left and right sides of the robot 300 that hinder its movement.

If the depth sensor 301d detects an object on at least one of the left side and the right side of the robot 300, the robot 300 makes a "No" determination in step 395, proceeds to step 396, and performs an abnormality determination.

If the depth sensor 301d does not detect objects on the left and right sides of the robot 300, the robot 300 makes a "Yes" determination in step 395, proceeds to step 397, and rotates the driving wheels 114 at the turning position C333b. Attempt a 90° turn in the right turn direction by controlling , and proceed to step 398 .

At step 398, the robot 300 determines whether or not the robot 300 has turned right by 90 degrees based on the information (internal sensor data) acquired by the internal sensor 301c.

If the robot 300 has not been able to turn 90 degrees in the right turning direction, the robot 300 makes a "No" determination in step 398, proceeds to step 399, and waits for the predetermined time stored in the storage device 105b in advance. Retry within That is, in this case, the robot 300 proceeds to step 397 and attempts to turn until it can turn 90 degrees in the right turning direction. The time required for the retry is counted by the timer 105a. The robot 300 proceeds again to step 398 to determine whether the robot 300 has turned 90° in the right turning direction. If the robot 300 has not turned right by 90 degrees, the process proceeds to step 399 to determine whether or not a predetermined time has elapsed since the timer 105a started counting.

If the predetermined time has not elapsed since the timer 105a started counting, the robot 300 determines "No" and performs the operations of steps 397 and 398 again.

If a certain period of time has elapsed since the timer 105a started counting, the robot 300 determines "Yes", proceeds to step 400, and performs an abnormality determination.

At step 398, if the robot 300 was able to turn 90 degrees in the right turning direction, the robot 300 determines "Yes" at step 398, proceeds to step 401, and stores it in the storage device 105b. Go straight for a second specified distance. In addition, this constant second specified distance corresponds to a distance from the turning position C333b to a position where the ridge end of the ridge B321b can be detected by the depth sensor 301d (for example, the ridge end movement position B333c).

After that, the robot 300 proceeds to step 402 and determines whether or not the depth sensor 301d is detecting only the object existing on the right side of the robot 300 .

If the detection state of the depth sensor 301d is not the state where the depth sensor 301d is detecting only the object existing on the right side of the robot 300, the robot 300 determines "No" in step 402, proceeds to step 403, Abnormal judgment is performed.

If the depth sensor 301d detects only the object existing on the right side of the robot 300, the robot 300 makes a "Yes" determination in step 402, proceeds to step 404, and determines the constant value stored in the storage device 105b. Go straight ahead for the third specified distance.

After that, the robot 300 proceeds to step 405 and determines whether or not the depth sensor 301 detects objects on the left and right sides of the robot 300 .

If the depth sensor 301 d detects an object on at least one of the left and right sides of the robot 300 , the robot 300 determines “No” in step 405 and proceeds to step 406 .

When the robot 300 proceeds to step 406, based on the self-location information acquired by the GNSS section 111, the robot 300 determines whether or not the robot 300 exists within the assumed ridge range of the ridge 322b. As described above, the robot 300 determines the estimated range between ridges based on the self-position information acquired by the GNSS unit 111 and the ridges, ridge ends, and positions between the ridges of the farm map stored in the ROM of the control device 105. Identify.

When the depth sensor 301d detects an object even though the robot 300 exists within the assumed range between the ridges of the ridge 322b (determined as "No" in step 405), there are robots around the robot 300. It is conceivable that there is a high possibility that there is an obstacle or the like that hinders the movement of the robot 300 . Therefore, in this case, the robot 300 determines "Yes" in step 406, proceeds to step 407, and performs abnormality determination.

On the other hand, if the robot 300 exists outside the assumed range between the ridges of the ridge 322b, the robot 300 makes a "No" determination in step 406, proceeds to step 404, and proceeds straight again by the third prescribed distance. Go to step 405 .

In step 405, if the depth sensor 301d has not detected an object on the left or right side of the robot 300, the robot 300 makes a "Yes" determination in step 405, proceeds to step 408, and stores in the storage device 105b. Go straight ahead for a certain fourth specified distance. If the robot 300 turns and moves straight at the position when the depth sensor 301d no longer detects the object (“second ridge undetected position”), the drive wheels 114 may run over the ridge B321b. Therefore, the robot 300 needs to turn at a position separated from the second ridge undetected position by the fourth prescribed distance in the traveling direction. Accordingly, in step 408, the robot 300 advances straight by the fourth prescribed distance and moves to a turning position D333d where the robot 300 can turn without running over a ridge.

After that, the robot 300 proceeds to step 409 and determines whether or not the depth sensor 301d has detected an object. As a result, the robot 300 uses the depth sensor 301d at the turning position D333d to confirm that there are no obstacles on the left and right sides of the robot 300 that hinder its movement.

If the depth sensor 301d detects an object on at least one of the left side and the right side of the robot 300, the robot 300 determines "No" in step 409, proceeds to step 410, and performs abnormality determination.

If the depth sensor 301d has not detected an object on the left or right side of the robot 300, the robot 300 makes a "Yes" determination in step 409, proceeds to step 411, and rotates the driving wheels 114 at the turning position D333d. Attempt a 90° turn in the right turn direction by controlling , and proceed to step 412 .

At step 412, the robot 300 determines whether or not the robot 300 has turned 90 degrees to the right, based on the information (internal sensor data) acquired by the internal sensor 301c.

If the robot 300 has not been able to turn 90 degrees in the right turning direction, the robot 300 makes a "No" determination in step 412, proceeds to step 413, and waits for the predetermined time stored in the storage device 105b in advance. Retry within That is, in this case, the robot 300 proceeds to step 411 and attempts to turn until it can turn 90 degrees in the right turning direction. The time required for the retry is counted by the timer 105a. The robot 300 proceeds to step 412 again and determines whether the robot 300 has turned 90 degrees in the right turning direction. If the robot 300 has not been able to turn 90 degrees in the right turning direction, the robot 300 determines "No" in step 412 and proceeds to step 413 to check whether a predetermined time has elapsed since the timer 105a started counting. judge.

If the predetermined time has not elapsed since the timer 105a started counting, the robot 300 determines "No" in step 413 and performs the operations of steps 411 and 412 again.

If a certain period of time has elapsed since the timer 105a started counting, the robot 300 determines "Yes" in step 413, proceeds to step 414, and performs an abnormality determination.

In step 412, if the robot 300 was able to turn 90 degrees in the right turning direction, the robot 300 determines "Yes" in step 412, proceeds to step 415, and stores it in the storage device 105b. Go straight for a fixed fifth specified distance. Note that this constant fifth specified distance corresponds to, for example, the distance from the turning position D333d to a position where the ridges B321b and C321c can be detected by the depth sensor 301d (for example, the inter-ridge movement position D333e).

After that, the robot 300 proceeds to step 416 and determines whether or not the depth sensor 301 d detects objects (ridges B 321 b and ridges C 321 c ) on the left and right sides of the robot 300 .

If the depth sensor 301d does not detect an object on at least one of the left side and the right side of the robot 300, the robot 300 makes a "No" determination in step 416, proceeds to step 417, and performs an abnormality determination.

When the depth sensor 301d detects objects (ridges B321b and C321c) on the left and right sides of the robot 300, the robot 300 determines "Yes" in step 416, proceeds to step 418, and moves to the ridge 322b. Complete the move.

Note that the robot 300 may perform an operation in which step 392A described below is added between steps 391 and 394 in addition to the flowchart of FIG. 23 described above.

Step 392A: The robot 300 determines whether or not the robot 300 exists within the assumed ridge edge range based on the self-location information acquired by the GNSS section 111 .
The “assumed ridge edge range” is a range where it is assumed that at least one of the ridges A 321a and ridges B 321b can be detected by the depth sensor 301d when the robot 300 exists in that range. As described above, the robot 300 identifies the assumed ridge edge range based on the self-location information acquired by the GNSS unit 111 and the ridges, ridge ends, and positions between the ridges of the farm map stored in the ROM of the control device 105. do.

When the depth sensor 301d does not detect objects (ridges A 321a and ridges B 321b) existing on the left and right sides of the robot 300 (the " Yes” and proceeds to step 392A), there is a possibility that the robot 300 has an abnormality.

Therefore, in this case, the robot 300 determines "Yes" in step 392A, proceeds to step 393, and determines that the robot 300 is in an abnormal state.

If the robot 300 does not exist within the assumed ridge edge range, the robot 300 determines “No” in step 392A and proceeds to step 394 .

By executing the determination processing (step 392A) based on the self-location information acquired by the GNSS unit 111 and the assumed ridge end range set in the farm map, the robot 300 determines that the robot 300 has left the ridge A 322a. can be determined more reliably. Furthermore, the robot 300 can determine whether the robot 300 is in an abnormal state.

Further, the robot 300 may perform an operation in which Step 406A described below is added between Steps 405 and 408 to the flowchart of FIG. 23 described above.

Step 406A: Based on the self-location information acquired by the GNSS unit 111, the robot 300 determines whether or not the robot 300 exists outside the assumed range between the ridges B322b.

When the depth sensor 301d does not detect objects on the left and right sides of the robot 300 even though the robot 300 exists outside the assumed range between the ridges of the ridge B322b ("Yes" is determined in step 405, and step 406A), the robot 300 may be malfunctioning.

Therefore, in this case, the robot 300 determines "Yes" in step 406A, proceeds to step 407, and determines that the robot 300 is in an abnormal state.

When the robot 300 does not exist outside the assumed range between the ridges of the ridge B322b (that is, when the robot 300 exists within the assumed range between the ridges of the ridge B322b), the robot 300 determines "Yes" in step 406A. Proceed to step 408 .

By executing the determination processing (step 406A) based on the self-position information acquired by the GNSS unit 111 and the assumed ridge range set in the farm map, the robot 300 moves within the assumed ridge range of the ridge B322b. It is possible to determine with certainty that it has entered. Furthermore, the robot 300 can determine whether the robot 300 is in an abnormal state.

<effect>
The agricultural support system according to the fourth embodiment has the same effect as the agricultural support system according to the third embodiment.

<<Fifth Embodiment>>
An agricultural support system according to a fifth embodiment of the present invention will be described. The agricultural support system according to the fifth embodiment of the present invention, as shown in FIG. 24, has a marker A 351a and a marker B 351b that indicate a position to turn to a predetermined position in the farm 118. As shown in FIG. The robot 300 shown in FIG. 21 recognizes the marker A 351a and the marker B 351b by the monitoring device 106 and the depth sensor 301d, thereby executing the moving operation from the ridge A 322a to the ridge B 322b.

In the farm 118, the marker A351a is installed on the extension of the furrow A322a. The marker B351b is installed on an extension of the ridge C321c.

The robot 300 measures the distance from the robot 300 to the marker A351a by the depth sensor 301d while traveling straight through the ridge 322a. The robot 300 turns 90 degrees to the right turning direction at the turning position E343b where the measured distance becomes the fixed distance set in the storage device 105b.

After that, the robot 300 measures the distance from the robot 300 to the marker B351b by the depth sensor 301d while traveling straight. The robot 300 turns 90° in the right turning direction at a turning position E343d where the measured distance is the constant distance set in the storage device 105b. After that, the robot 300 goes straight to enter the ridge B322b and completes the movement from the ridge A322a to the ridge B322b.

Note that the marker A 351a and the marker B 351b can have unique information. For example, the robot 300 can acquire the accurate self-position of the robot 300 by writing information indicating the installation position of the marker in characters, a QR code (registered trademark), or the like and reading it with the monitoring device 106 . Further, when the robot 300 determines that the self-location information acquired by the GNSS unit 311 has an error based on the read information, the robot 300 can correct the self-location information.

<Robot operation 5 (moving to adjacent ridge)>
FIG. 25 is a flowchart for explaining an operation example of movement of the robot 300 to adjacent furrows in the farm 118 where markers are installed. Each operation (process) of the robot 300 is executed by the control device 105 .

At step 420, robot 300 is traveling straight through furrow A322a. The robot 300 proceeds to step 421, recognizes the marker A351a by the monitoring device 106, and moves in front of the marker A351a. The robot 300 measures the distance to the marker A351a by the depth sensor 301d, and determines whether or not the robot 300 is at the turning position E343b based on the distance to the marker A351a and the distance set in the storage device 105b.

If the robot 300 does not exist at the turning position E343b, the robot 300 determines “No” in step 421 and proceeds to step 422. It is determined whether or not it exists outside the assumed range of E343b. The assumed range of the turning position E343b is a range in which the robot 300 can recognize the marker A351a by the depth sensor 301d when the robot 300 exists within the range. For the sake of convenience, the "assumed range of the turning position E343b" may also be referred to as the "assumed first marker detection range".

If the robot 300 is within the assumed range of the turning position E343b, the robot 300 makes a "No" determination in step 422, proceeds to step 420, and moves straight again to attempt movement to the turning position E343b.

If the robot 300 is outside the assumed range of the turning position E343b, the robot 300 makes a "Yes" determination in step 422, proceeds to step 423, and makes an abnormality determination. That is, since the robot 300 can detect the marker A 351a even though the robot 300 is outside the assumed range in which the marker A 351a can be recognized (determination of "No" in step 421), the robot 300 performs abnormality determination. .

When the robot 300 is at the turning position E343b, the robot 300 determines “Yes” in step 421, proceeds to step 424, and controls the rotation of the driving wheels 114 at the turning position E343b to turn to the right. Attempt a 90° turn in the rotational direction and proceed to step 425 .

At step 425, the robot 300 determines whether or not the robot 300 has turned right by 90 degrees based on the information (internal sensor data) acquired by the internal sensor 301c.

If the robot 300 has not been able to turn 90 degrees in the right turning direction, the robot 300 makes a "No" determination in step 425, proceeds to step 426, and waits for the predetermined time stored in the storage device 105b in advance. Retry within That is, in this case, the robot 300 proceeds to step 424 and attempts to turn until it can turn 90 degrees in the right turning direction. The time required for the retry is counted by the timer 105a. The robot 300 proceeds to step 425 again and determines whether the robot 300 has turned 90 degrees in the right turning direction. If the robot 300 has not yet turned 90 degrees to the right, the process proceeds to step 426 to determine whether or not a certain period of time has elapsed since the timer 105a started counting.

If the predetermined time has not elapsed since the timer 105a started counting, the robot 300 determines "No" and performs the operations of steps 424 and 425 again.

If a certain period of time has elapsed since the timer 105a started counting, the robot 300 determines "Yes" in step 426, proceeds to step 427, and performs an abnormality determination.

At step 425, if the robot 300 has turned 90 degrees to the right, the robot 300 determines "Yes" at step 425, proceeds to step 428, and moves straight toward the marker B351b.

The robot 300 proceeds to step 429, recognizes the marker B351b by the monitoring device 106, and moves in front of the marker B351b. The robot 300 measures the distance to the marker B351b by the depth sensor 301d, and determines whether or not the robot 300 is present at the turning position F343d based on the distance to the marker B351b and the distance set in the storage device 105b.

If the robot 300 does not exist at the turning position F343d, the robot 300 determines “No” in step 429 and proceeds to step 430. It is determined whether or not it exists outside the assumed range of F343d. The assumed range of the turning position F343d is a range in which the robot 300 can recognize the marker B351b by the depth sensor 301d when the robot exists within that range. For convenience, the assumed range of the turning position F343d may also be referred to as the "second marker detection assumed range".

If the robot 300 is within the assumed range of the turning position F343d, the robot 300 makes a "No" determination in step 430, proceeds to step 428, and moves straight again to attempt movement to the turning position F343d.

If the robot 300 is outside the assumed range of the turning position F343d, the robot 300 makes a "Yes" determination in step 430, proceeds to step 431, and makes an abnormality determination. That is, since the robot 300 can detect the marker B 351b even though it is outside the assumed range where the marker B 351b can be recognized (step 429), the robot 300 determines an abnormality.

When the robot 300 is present at the turning position F343d, the robot 300 determines “Yes” in step 429, proceeds to step 432, and controls the rotation of the drive wheels 114 at the turning position F343d to turn to the right. Attempt a 90° turn in the direction of rotation and proceed to step 433 .

At step 433, the robot 300 determines whether or not the robot 300 has turned 90 degrees to the right, based on the information (internal sensor data) acquired by the internal sensor 301c.

If the robot 300 has not been able to turn 90 degrees in the right turning direction, the robot 300 makes a "No" determination in step 433, proceeds to step 434, and waits for the predetermined time stored in advance in the storage device 105b. Retry within That is, in this case, the robot 300 proceeds to step 432 and attempts to turn until it can turn 90 degrees in the right turning direction. The time required for the retry is counted by the timer 105a. The robot 300 proceeds to step 433 again and determines whether or not the robot 300 has turned 90 degrees to the right. If the robot 300 has not been able to turn 90 degrees to the right, the process proceeds to step 434, and it is determined whether or not a certain period of time has elapsed since the timer 105a started counting.

If the predetermined time has not elapsed since the timer 105a started counting, the robot 300 determines "No" and performs the operations of steps 432 and 433 again.

If a certain period of time has elapsed since the timer 105a started counting, the robot 300 determines "Yes" in step 434, proceeds to step 435, and performs an abnormality determination.

In step 433, if the robot 300 has turned 90 degrees in the right turning direction, the robot 300 determines "Yes" in step 433, advances to step 446, and proceeds straight to move to the ridge 322b. complete.

<effect>
The agriculture support system according to the fifth embodiment has the same effect as the agriculture support system according to the first embodiment. Furthermore, according to this agricultural support system, the robot 300 travels between the furrows A322a based on the distance between the robot 300 and the markers (marker A351a, marker B351b), and then turns at an appropriate position to make the adjacent It can move to the ridge B322b. Therefore, this agricultural support system prevents the robot 300 from contacting the ridge when the robot 300 autonomously traveling in the farm 118 moves to the adjacent ridge B322b, which may cause a part of the ridge to collapse. can be lowered.

<<Modification>>
The present invention is not limited to the above embodiments, and various modifications can be adopted within the scope of the present invention. Furthermore, the features of each of the above embodiments can be combined with each other without departing from the scope of the present invention.

For example, in each of the above-described embodiments, the robot may be a mobile body or crawler equipped with multiple pairs of drive wheels. If there are multiple robots in the farm, one robot may use information including self-location information of the other robots.

DESCRIPTION OF SYMBOLS 101... Robot, 102... Server, 103... Terminal, 105... Control device, 106... Monitoring device, 107... External sensor, 108... Internal sensor, 109... Communication unit, 110... Antenna, 111... GNSS unit, 112... Motor, 113... drive shaft, 114... drive wheel, 118... farm, 119... furrow, 120... furrow, 121... monitoring image, 123... farm map data, 301a... right furrow detection sensor, 301b... left furrow detection sensor, 322a... furrow A, 322b ... Furrow B, S ... Agriculture support system

Claims (15)

An agricultural support system including an information processing device configured to be able to communicate with each other, and a mobile body capable of traveling in a farm formed so that a plurality of rows of ridges and the spaces between the ridges are lined up,
The moving body is
a communication device capable of communicating with the information processing device;
a storage unit that stores a farm map corresponding to the farm, including ridge information including positions regarding the plurality of ridges and between the ridges;
a first information acquisition device that detects an object by acquiring object information about an object around the moving object;
a second information acquisition device that acquires mobile information about the state of the mobile;
a location information acquisition device that acquires self-location information indicating the location of the mobile object;
a traveling device capable of causing the moving body to travel in a desired traveling direction;
a control device that controls the traveling device so that the mobile body autonomously travels between the ridges based on the farm map, the object information, the mobile body information, and the self-location information;
with
The control device is
When the moving body is traveling between one of the ridges, the first information acquisition device detects the ridges on the left and right sides of the moving body from the ridge detection state to the left and right sides of the moving body. If the ridge is not detected in the above-mentioned ridge,
The moving body advances straight a first distance from the position at which the first information acquisition device enters the ridge non-detection state, moves to a first turning position, turns at the first turning position, and then moves to the first turning position. Controlling the traveling device so as to perform a first straight-ahead motion in which the ridges are aligned along the direction in which the plurality of ridges are aligned toward a position where the ridges are present only on one of the left side and the right side of the moving body. death,
Furthermore, the control device
The first information acquisition device changes from a state in which the ridge is detected only on the one side of the moving object to a ridge undetected state in which the ridge is not detected on the left and right sides of the moving object. case,
The moving body advances straight a second distance from the position at which the ridge is not detected, moves to a second turning position, turns at the second turning position, and then is adjacent to the one ridge. so as to perform a second straight motion that moves straight toward the ridge,
controlling the running gear;
configured as
Agricultural support system. An agricultural support system including an information processing device configured to be able to communicate with each other, and a mobile body capable of traveling in a farm formed so that a plurality of rows of ridges and the spaces between the ridges are lined up,
The moving body is
a communication device capable of communicating with the information processing device;
a storage unit that stores a farm map corresponding to the farm, including ridge information including positions regarding the plurality of ridges and between the ridges;
a first information acquisition device for acquiring object information about objects around the moving object;
a second information acquisition device for acquiring mobile body information about the state of the mobile body;
a location information acquisition device that acquires self-location information indicating the location of the mobile object;
a traveling device capable of causing the moving body to travel in a desired traveling direction;
a control device that controls the traveling device so that the mobile body autonomously travels between the ridges based on the farm map, the object information, the mobile body information, and the self-location information;
with
The farm is provided with a first marker installed at a position separated by a first predetermined distance from the first turning position and a second marker installed at a position separated by a second predetermined distance from the second turning position,
The control device is
While the moving object is running between the one ridges, the first information acquisition device acquires a first marker distance, which is the distance between the first marker and the moving object, as the object information. ,
If it is determined that the moving body has reached the first turning position based on the first marker distance and the first predetermined distance,
After the moving body turns at the first turning position, it moves straight along the direction in which the plurality of ridges are arranged toward a position where the ridges exist only on one of the left side and the right side of the moving body. so as to control the traveling device,
obtaining a second marker distance, which is the distance between the second marker and the moving body, as the object information by the first information obtaining device;
When it is determined that the moving body has reached the second turning position based on the second marker distance and the second predetermined distance, after the moving body turns at the second turning position, the one of the Controlling the traveling device so as to move straight toward the ridge adjacent to the ridge;
configured as
Agricultural support system. In the agricultural support system according to claim 1 or claim 2,
The information processing device further comprises a storage device storing the farm map,
The moving body further includes an imaging device that captures an image of the surroundings of the moving body and acquires a captured image,
The control device is
receiving the captured image from the imaging device;
a data set in which the captured image, time information indicating the time when the captured image was obtained, and image acquisition position information indicating the position at which the captured image was obtained are associated with each other; configured to send to the device,
The information processing device is
storing the captured image and the time information in the storage device in association with the farm map based on the image acquisition position information;
configured as
Agricultural support system. In the agricultural support system according to claim 3,
The control device is
When the captured image is received from the imaging device, the imaging corresponding to the position where the captured image is acquired, which is stored in the storage device of the information processing device via the communication device from the information processing device Acquiring a stored image, which is an image, from the information processing device;
determining whether an object present in the captured image is a weed control target object or an obstacle by comparing the captured image with the stored image;
controlling travel of the moving body based on the determination result;
configured as
Agricultural support system. In the agricultural support system according to claim 4,
The control device is
if the object present in the captured image is the weed prevention target object, continuing the traveling of the moving object;
If the object present in the captured image is the obstacle, controlling the traveling device to stop traveling of the moving object;
configured as
Agricultural support system. In the agricultural support system according to claim 1 or claim 2,
The control device is
When it is determined that the mobile body is in a stuck state based on the mobile body information and the self-position information, the mobile body is caused to execute a predetermined stack elimination operation for eliminating the stuck state. to control the traveling device;
configured as
Agricultural support system. In the agricultural support system according to claim 1 or claim 2,
The moving body includes, as the first information acquisition device, a sensor having an emission unit that emits a laser beam,
The sensor is attached to the moving body so as to be movable with respect to the moving body so that the direction of the emitting part can be freely changed.
Agricultural support system. In the agricultural support system according to claim 1 or claim 2,
further comprising an information terminal capable of communicating with the information processing device and the mobile body,
the information terminal acquires information indicating the state of the mobile object from the mobile object;
configured as
Agricultural support system. In the agricultural support system according to claim 1 or claim 2,
The control device is
controlling the traveling device so that the first moving body turns at the first turning position until the direction of the moving body becomes perpendicular to the row direction of the ridges;
controlling the traveling device so that the first moving body turns at the second turning position until the direction of the moving body becomes parallel to the row direction of the ridges;
configured as
Agricultural support system. In the agricultural support system according to claim 1,
The control device is
determining whether or not the first information acquisition device detects objects on the left and right sides of the moving body before the moving body turns at the first turning position;
controlling the traveling device so that the moving body performs the first straight movement when the first information acquisition device does not detect objects on the left and right sides of the moving body;
controlling the traveling device to stop the moving body when the first information acquisition device detects an object on at least one of the left side and the right side of the moving body;
determining whether or not the first information acquisition device detects objects on the left and right sides of the moving body before the moving body turns at the second turning position;
controlling the traveling device so that the moving body performs the second straight movement when the first information acquisition device does not detect objects on the left and right sides of the moving body;
When the first information acquisition device detects an object on at least one of the left side and the right side of the moving body, controlling the traveling device so as to stop the moving body;
configured as
Agricultural support system. In the agricultural support system according to claim 1,
Based on the self-location information and the farm map, the control device provides an assumed ridge range consisting of the one ridge interval and an extended range when the one ridge interval is extended, and If it exists in the assumed ridge range, specify the assumed ridge range where it is assumed that at least one of the two ridges sandwiching the one ridge can be detected by the first information acquisition device,
Determining whether or not the moving object exists outside the assumed ridge range based on the self-location information;
When the first information acquisition device detects an object other than the ridge on at least one of the left side and the right side of the moving body, and the moving body exists outside the assumed range of the ridge , determining that the moving object is in an abnormal state;
configured as
Agricultural support system. In the agricultural support system according to claim 1,
The control device is
Based on the self-location information and the farm map, an assumed ridge edge range comprising the one ridge interval and an extended range when the one ridge interval is extended, wherein the moving object is the assumed ridge edge range , it is assumed that the ridge end of at least one of the two ridges sandwiching the one ridge can be detected by the first information acquisition device. Identify the assumed ridge end range,
When the first information acquisition device changes from the ridge detection state to the ridge non-detection state while the moving object is traveling between the one ridges, the moving object is determined based on the self-location information. Determining whether the body exists within the assumed range of the ridge end,
When the moving body exists within the assumed range of the ridge edge, it is determined that the moving body is in an abnormal state;
configured as
Agricultural support system. In the agricultural support system according to claim 1,
The control device is
Based on the self-location information and the farm map, it is an extension range when the ridges adjacent to the one ridge are extended, and the first information is acquired when the moving body exists within the extension range. Identifying an assumed range between ridges where it is assumed that the ridges cannot be detected by the device,
When the first information acquisition device detects an object other than the ridge on at least one of the left side and the right side of the moving body, and the moving body exists within the assumed range between the ridges , determining that the moving object is in an abnormal state;
configured as
Agricultural support system. In the agricultural support system according to claim 2,
The control device is
Based on the self-location information and the farm map, a first marker detection assumed range in which the first marker is assumed to be detectable by the first information acquisition device and the second marker by the first information acquisition device identifies the assumed detection range of the second marker that is assumed to be detectable,
When the first information acquisition device can acquire the first marker distance, before it is determined that the mobile body has reached the first turning position, based on the self-position information, the mobile body exists outside the assumed detection range of the first marker,
determining that the moving object is in an abnormal state when the moving object exists outside the first marker detection assumed range;
When the second marker distance can be acquired by the first information acquisition device, before it is determined that the mobile body has reached the second turning position, the mobile body determines based on the self-position information exists outside the second marker detection assumed range,
determining that the moving body is in an abnormal state when the moving body is outside the second marker detection range;
configured as
Agricultural support system. A mobile body configured to be able to communicate with an external information processing device and capable of traveling through a farm formed with a plurality of row-shaped ridges and the spaces between the ridges lined up,
a communication device capable of communicating with the information processing device;
a storage unit that stores a farm map corresponding to the farm, including ridge information including positions regarding the plurality of ridges and between the ridges;
a first information acquisition device that detects an object by acquiring object information about an object around the moving object;
a second information acquisition device that acquires mobile information about the state of the mobile;
a location information acquisition device that acquires self-location information indicating the location of the mobile object;
a traveling device capable of causing the moving body to travel in a desired traveling direction;
a control device that controls the traveling device so that the mobile body autonomously travels between the ridges based on the farm map, the object information, the mobile body information, and the self-location information;
with
The control device is
When the moving body is traveling between one of the ridges, the first information acquisition device detects the ridges on the left and right sides of the moving body from the ridge detection state to the left and right sides of the moving body. If the ridge is not detected in the above-mentioned ridge,
The moving body advances straight a first distance from the position at which the first information acquisition device enters the ridge non-detection state, moves to a first turning position, turns at the first turning position, and then moves to the first turning position. Controlling the traveling device so as to perform a first straight-ahead motion in which the ridges are aligned along the direction in which the plurality of ridges are aligned toward a position where the ridges are present only on one of the left side and the right side of the moving body. death,
Furthermore, the control device
The first information acquisition device changes from a state in which the ridge is detected only on the one side of the moving object to a ridge undetected state in which the ridge is not detected on the left and right sides of the moving object. case,
The moving body advances straight a second distance from the position at which the ridge is not detected, moves to a second turning position, turns at the second turning position, and then is adjacent to the one ridge. so as to perform a second straight motion that moves straight toward the ridge,
controlling the running gear;
configured as
Mobile.

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