JP6656462B2 - Containment system - Google Patents

Description

  The present invention relates to a work machine, an accommodation system, and a program.

In recent years, it has been studied to utilize unmanned agricultural machines or sensing technology to improve the efficiency of agriculture. For example, Non-Patent Document 1 discloses an unmanned small weeding robot. Non-Patent Document 2 discloses a topdressing method adapted to a growing state using a sensing technique.
[Prior art documents]
[Non-patent literature]
[Non-patent document 1] Nao Kondo, "Development of a robot for weeding along a ridge", [on line] [searched on August 12, 2016], Internet <URL: http: //www.aptech.kais.kyoto-u. ac.jp/activity/date/grass_cutter_robot.pdf>
[Non-patent document 2] List of test research results, Hokkaido Institutional Research Institute, "Achievement summary (prepared in January 2006)" [on line] [Search on October 20, 2016], Internet <URL : Https://www.hro.or.jp/list/agricultural/center/kenkyuseika/gaiyosho/h18gaiyo/f5/2006508.pdf>

  It is desired to reduce the labor required for maintenance work on unmanned agricultural machines.

  In a first aspect of the present invention, a containment system is provided. The above-described accommodation system is, for example, a system for accommodating a first attachment that is detachably attached to a work machine having an autonomous movement function. The accommodation system described above includes, for example, a housing. For example, a space for accommodating a working machine is formed inside the housing. The above-mentioned accommodation system is provided with a holding part which holds the 1st attachment removed from the work machine, for example. In the storage system described above, the holding unit holds the first attachment using, for example, an operation of the work machine.

  In the storage system described above, the holding unit may hold the first attachment using an operation in which the work machine moves around the holding unit. In the storage system described above, the holding unit may be provided inside the housing. In the above-mentioned housing system, unevenness may be formed in the region below the holding portion on the bottom of the housing along the extending direction of the holding portion. The storage system is configured such that the first attachment attached to the work machine is removed from the work machine by moving the work machine in a region below the holding unit substantially parallel to the extending direction of the holding unit. May be.

  In the storage system described above, the holding unit may be configured to be able to hold the first attachment and the second attachment different from the first attachment. The storage system described above is configured such that the second attachment held by the holding unit is attached to the working machine by moving the work machine in a region below the holding unit substantially parallel to the extending direction of the holding unit. Good.

  In a second aspect of the present invention, a containment system is provided. The above-mentioned accommodation system is, for example, a system for accommodating a second attachment detachably configured in a work machine having an autonomous movement function. The accommodation system includes, for example, a housing in which a space for accommodating the work machine and the second attachment is formed. The storage system described above includes, for example, a holding unit that holds the second attachment. In the above-mentioned housing system, unevenness may be formed on the bottom of the housing, for example, in a region below the holding unit along the extending direction of the holding unit. The storage system is configured such that the second attachment held by the holding unit is attached to the working machine by, for example, moving the working machine in a region below the holding unit in a direction substantially parallel to the extending direction of the holding unit. Is done.

  In the storage system according to at least one of the first and second aspects, the holding unit may include a belt conveyor or a roller conveyor. The storage system described above may include a display unit that displays a state of the first attachment attached to the work machine. The display unit may include a reflecting member that reflects a state of the first attachment attached to the work machine. The containment system described above may include a work machine. In the accommodation system described above, the work machine may include an imaging unit that images the periphery of the work machine, and a control unit that controls an operation unit of the work machine. In the accommodation system described above, the imaging unit may image the display unit. In the storage system described above, the control unit analyzes the image data of the display unit captured by the imaging unit, and determines whether the first attachment attached to the work machine satisfies a predetermined condition. Good. In the above-mentioned storage system, the control unit operates such that when the first attachment attached to the work machine satisfies a predetermined condition, vibration is applied to the first attachment by the operation of the work machine. The unit may be controlled. In the storage system described above, the control unit, when it is determined that the first attachment attached to the work machine satisfies a predetermined condition, causes the work machine to execute at least one of a sudden start and a sudden stop. Then, the operating unit may be controlled.

  In a third aspect of the present invention, a work machine is provided. The work machine described above is, for example, a work machine having an autonomous movement function. The work machine described above includes, for example, a storage unit that stores harvested agricultural products. The work machine includes, for example, an imaging unit that captures an image around the work machine. The work machine described above includes, for example, a control unit that controls an operating unit of the work machine. In the above working machine, for example, the control unit acquires information indicating a state of the first attachment attached to the working machine. In the above-described work machine, for example, the control unit determines whether the first attachment attached to the work machine satisfies a predetermined condition. In the above working machine, for example, when the control unit determines that the first attachment attached to the working machine satisfies a predetermined condition, the operation of the working machine applies vibration to the first attachment. , Control the operating unit. The work machine described above may include an adjustment unit that adjusts a distance between the bottom of the housing and the first attachment.

  The above summary of the present invention does not list all of the necessary features of the present invention. Further, a sub-combination of these feature groups can also be an invention.

An example of the work support system 100 is schematically shown. An example of the farm work robot 102 is schematically illustrated. An example of the farm work robot 102 is schematically illustrated. An example of a storage box 420 is schematically shown. An example of the storage box 520 is schematically shown. One example of a storage box 620 is schematically illustrated. An example of a farm work robot 702 is schematically shown. FIG. 2 schematically shows an example of a plan view of the inside of the storage 104. An example of an AA cross-sectional view of the storage 104 is schematically shown. FIG. 3 schematically shows an example of a BB cross-sectional view of the storage 104. An example of a sectional view of the storage 1104 is schematically shown. An example of the sectional view of storage 1204 is shown roughly. An example of the sectional view of storage 1304 is shown roughly. An example of the sectional view of storage 1304 is shown roughly. An example of the sectional view of storage 1504 is shown roughly. An example of the sectional view of storage 1604 is shown roughly. An example of the top view inside the storage 1704 is shown schematically. An example of the AA sectional view of the storage 1704 is schematically shown. An example of the top view inside the storage 1904 is shown roughly. An example of the BB sectional view of storage 1904 is shown roughly.

  Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. In addition, not all combinations of the features described in the embodiments are necessarily essential to the solution of the invention. In the drawings, the same or similar portions are denoted by the same reference numerals, and duplicate description may be omitted.

[Overview of work support system 100]
FIG. 1 schematically shows an example of a system configuration of the work support system 100. In the present embodiment, the work support system 100 supports the work of the worker 12. In the present embodiment, the details of the work support system 100 will be described by taking, as an example, a case where the worker 12 performs farm work for growing the agricultural product 30. However, the work support system 100 is not limited to this embodiment. In another embodiment, the worker 12 may perform work other than farm work, and the work support system 100 may support work other than farm work. In addition, as the agricultural products 30, cereals, vegetables, fruits, tea, mushrooms, mycelia, and the like can be exemplified.

  In the present embodiment, the work support system 100 includes one or a plurality of farm work robots 102 and a storage 104. In the present embodiment, the farm work robot 102 includes a base unit 130, a moving unit 132, an imaging unit 134, and a farm work unit 138. The agricultural work robot 102 may include a plurality of mobile units 132. The farm work robot 102 may include a plurality of imaging units 134. The farm work robot 102 may include a plurality of farm work units 138.

  In the present embodiment, the details of the work support system 100 will be described by taking as an example a case where one or a plurality of imaging units 134 are arranged on the farm work robot 102. However, the work support system 100 is not limited to this embodiment. In another embodiment, at least a part of the one or more imaging units 134 may be installed at an arbitrary place in a field where the agricultural product 30 is grown.

  In the present embodiment, the work support system 100 may include a management server 150. In the present embodiment, the management server 150 includes a request receiving unit 152, a request execution unit 154, and an information storage unit 156. The work support system 100 may further include one or a plurality of communication terminals 22. The units of the work support system 100 may mutually send and receive information via the communication network 10.

  The work support system 100 may be an example of an accommodation system. The farm work robot 102 may be an example of a work machine. The storage 104 may be an example of a storage system. Each of the one or more mobile units 132 may be an example of a first attachment or a second attachment. Each of the one or more imaging units 134 may be an example of a first attachment or a second attachment. Each of the one or more farm work units 138 may be an example of a first attachment or a second attachment.

[Overview of each part of work support system 100]
In the present embodiment, the communication network 10 may be a transmission path for wired communication, a transmission path for wireless communication, or a combination of a transmission path for wireless communication and a transmission path for wired communication. . The communication network 10 may include a wireless packet communication network, the Internet, a P2P network, a dedicated line, a VPN, a power line communication line, and the like.

  The communication network 10 may include (i) a mobile communication network such as a mobile phone network, (ii) a wireless MAN (for example, WiMAX (registered trademark)), a wireless LAN (for example, WiFi (registered trademark)). )), Bluetooth (registered trademark), Zigbee (registered trademark), and a wireless communication network such as NFC (Near Field Communication). Wireless LAN, Bluetooth (registered trademark), Zigbee (registered trademark), and NFC may be examples of short-range wireless communication.

  In the present embodiment, the communication terminal 22 sends and receives information to and from the agricultural work robot 102 via the communication network 10. The communication terminal 22 may send and receive information to and from the management server 150 via the communication network 10. The communication terminal 22 may function as a user interface when the worker 12 operates the agricultural work robot 102. The communication terminal 22 may be used for user authentication processing of the worker 12 by the farm work robot 102. The communication terminal 22 may function as a user interface when the worker 12 accesses the management server 150. The communication terminal 22 may be used for user authentication processing of the worker 12 by the management server 150.

  The communication terminal 22 includes (i) a data processing device having a processor (for example, a CPU, a GPU, and the like), a ROM, a RAM, a communication interface, and the like, and (ii) a keyboard, a touch panel, a camera, a microphone, various sensors, and a GPS. Input devices such as a receiver, a voice recognition device, an image recognition device, and a gesture recognition device; (iii) output devices such as a display device, a printer, a speaker, an ultrasonic output device, and a vibration output device; and (iv) a memory and an HDD Storage device (including an external storage device). Examples of the communication terminal 22 include a personal computer and a mobile terminal. Examples of the mobile terminal include a mobile phone, a smartphone, a PDA, a tablet, a notebook computer or a laptop computer, and a wearable computer.

  In the present embodiment, the farm work robot 102 may be a work machine that performs an arbitrary work. The farm work robot 102 performs, for example, various farm work, monitoring work, and the like. The agricultural work robot 102 may be fixed or mobile.

  The agricultural work robot 102 may have (i) an autonomous traveling function or an autonomous navigation function, (ii) may be operated by remote control, or (iii) may be operated by an operator who has boarded the agricultural work robot 102. Good. The farm work robot 102 is preferably an autonomous robot. In one embodiment, the agricultural robot 102 autonomously moves at least within the boundaries of the field using any positioning technology. In another embodiment, the farm work robot 102 performs the farm work by autonomous control. Thereby, the user's labor can be largely saved.

The farm work robot 102 may be a small robot. For example, the volume per farm work robot 102 may be 1 m ³ or less, 0.5 m ³ or less, or 0.25 m ³ or less. Thereby, it can move freely in a field. Also, the agricultural product 30 can be monitored from an angle that is difficult for humans.

  The farm work robot 102 can perform various works using one or a plurality of units attached to the farm work robot 102. For example, in order to produce agricultural products 30, soil sampling, soil analysis, fertilization, ridges, sowing or planting, field monitoring, pest control, weeding, thinning or abstracting, top dressing, determination of harvest time, harvesting Work such as occurs. The operation for producing the agricultural product 30 may be referred to as an agricultural operation. Farm work may be an example of work. The soil may be an example of a culture medium for the agricultural product 30. The culture medium may be an example of an environment around the agricultural product 30.

  In this embodiment, the storage 104 accommodates one or a plurality of farming robots 102. The storage 104 may house a unit (which may be referred to as an attachment) configured to be detachable from the agricultural work robot 102. For example, the storage 104 accommodates one or more agricultural work units 138. In the present embodiment, a space for accommodating one or a plurality of agricultural work robots 102 and a space for accommodating one or a plurality of attachments are formed inside the storage 104.

  In one embodiment, the farm work robot 102 performs an operation for removing the farm work unit 138 mounted on the farm work robot 102 from the farm work robot 102 inside the storage 104. In another embodiment, the farm work robot 102 performs an operation for attaching the farm work unit 138 stored in the store 104 to the farm work robot 102 inside the store 104. As a result, the farm work unit 138 can be replaced unattended.

  In the present embodiment, the management server 150 manages information on the production of the agricultural products 30 for each of the one or more workers 12. In one embodiment, the management server 150 manages the execution plan and results of each worker's agricultural work. In another embodiment, the management server 150 manages the growth status of the agricultural products 30 of each worker.

  The management server 150 may collect information on the agricultural work, information on the growing state of the agricultural product 30, and the like from the communication terminal 22 of each worker, the agricultural work robot 102, various sensors installed on the field or around the field, and the like. For example, the management server 150 collects data of images captured by one or a plurality of imaging units 134. The management server 150 may store the collected image data in association with information indicating the position and time when the image was captured. The management server 150 may analyze the data of the collected images to determine the implementation status of the agricultural work, the growing state of the agricultural product 30, the state of the surrounding environment of the agricultural product 30, and the like.

  In still another embodiment, the management server 150 may create an execution plan of the farm work on the next day or later based on at least one of the farm work performance data of the worker 12 and the growth data of the agricultural product 30. For example, the management server 150 simulates the growing state of the agricultural product 30 of the worker 12 based on the actual result data of the agricultural work of the worker 12 and the actual result data of the growing state of the agricultural product 30. The management server 150 creates an execution plan for the agricultural work on and after the next day based on the simulation result. The management server 150 may create an execution plan for the next day or later based on the future weather forecast, the supply amount of the product, the predicted value of the market price, and the like so that the profit of the worker 12 is maximized.

  Examples of the growth state of the agricultural product 30 include a growth stage of the agricultural product 30, a growth state of the agricultural product 30, and the like. The information on the growth status of the agricultural product 30 may be information indicating an evaluation when the growing condition of the agricultural product 30 is compared with an arbitrary standard on the growing condition. The evaluation may be represented by a continuous numerical value or may be represented by a stepwise division. Examples of the evaluation based on the stepwise classification include a two-step evaluation, a three-step evaluation, a five-step evaluation, and a ten-step evaluation. Each section may be distinguished by a symbol or a letter, or may be distinguished by a number.

  Examples of the information indicating the state of the surrounding environment of the agricultural product 30 include information on soil in a field where the agricultural product 30 is cultivated, weather information on an area including the field where the agricultural product 30 is cultivated, and the like. The management server 150 may acquire the above-mentioned weather information from an external information distribution device that distributes various weather data. The weather data may be information on past weather or information on future weather forecast.

  In the present embodiment, the request receiving unit 152 receives a request from the farm work robot 102 or the communication terminal 22. The request executing unit 154 executes the request received by the request receiving unit 152, and transmits an execution result to a request source of the request. The information storage unit 156 stores various types of information necessary for the management server 150 to provide services. For example, the information storage unit 156 stores weather information, data of past production results, and the like. The information storage unit 156 may store information necessary to predict the supply amount of agricultural products, market prices, and the like.

[Specific Configuration of Each Unit of Work Support System 100]
Each part of the work support system 100 may be realized by hardware, may be realized by software, or may be realized by hardware and software. At least a part of each unit of the work support system 100 may be realized by a single server, or may be realized by a plurality of servers. At least a part of each unit of the work support system 100 may be realized on a virtual machine or a cloud system. At least a part of each unit of the work support system 100 may be realized by a personal computer or a mobile terminal. Examples of the mobile terminal include a mobile phone, a smartphone, a PDA, a tablet, a notebook computer or a laptop computer, and a wearable computer. Each unit of the work support system 100 may store information using a distributed ledger technology such as a blockchain or a distributed network.

  When at least a part of the components configuring the work support system 100 is realized by software, the components realized by the software define the operations related to the components in an information processing apparatus having a general configuration. It may be realized by activating software or a program that has been implemented. The information processing apparatus having the above general configuration includes (i) a data processing apparatus having a processor such as a CPU and a GPU, a ROM, a RAM, a communication interface, and the like, and (ii) a keyboard, a pointing device, a touch panel, a camera, and a voice input. Input devices such as devices, gesture input devices, various sensors, and GPS receivers; (iii) output devices such as display devices, audio output devices, and vibration devices; and (iv) storage devices such as memories, HDDs, and SSDs (external devices). Storage device).

  In the information processing device having the general configuration, the data processing device or the storage device may store the software or the program. The above software or program is executed by the processor to cause the information processing device to execute an operation defined by the software or program. The above software or program may be stored in a non-transitory computer-readable recording medium. The above software or program may be a program for causing a computer to function as the work support system 100 or a part thereof. The above software or program may be a program for causing a computer to execute information processing in the work support system 100 or a part thereof.

[Description of Each Part of Farm Work Robot 102]
FIG. 2 schematically illustrates an example of a system configuration of the agricultural work robot 102. As described with reference to FIG. 1, in the present embodiment, the farm work robot 102 includes the base unit 130, the moving unit 132, the imaging unit 134, and the farm work unit 138.

  As shown in FIG. 2, in the present embodiment, the farm work robot 102 includes a sensor unit 210, a control unit 220, a power supply unit 230, a vibration suppression unit 240, and a balance adjustment unit 250. The agricultural work robot 102 may include a plurality of sensor units 210. The agricultural work robot 102 may include a plurality of control units 220. The farm work robot 102 may include a plurality of power supply units 230. The agricultural work robot 102 may include a plurality of vibration suppression units 240. The agricultural work robot 102 may include a plurality of balance adjustment units 250.

  In the present embodiment, the base unit 130 holds a moving unit 132, an imaging unit 134, a farm work unit 138, a sensor unit 210, a control unit 220, a power supply unit 230, a vibration suppression unit 240, and a balance adjustment unit 250. In the present embodiment, the base unit 130 detachably holds at least one of the moving unit 132, the imaging unit 134, the farm work unit 138, the sensor unit 210, the vibration suppression unit 240, and the balance adjustment unit 250. Thereby, the farm work robot 102 can cope with a plurality of different types of work.

  Each of the moving unit 132, the imaging unit 134, the agricultural work unit 138, the sensor unit 210, the vibration suppression unit 240, and the balance adjustment unit 250 may be an example of an attachment configured to be detachable from the base unit 130. Each of the moving unit 132, the imaging unit 134, the farm work unit 138, the sensor unit 210, the vibration suppression unit 240, and the balance adjustment unit 250 may be an example of an operating unit of the farm work robot 102. The imaging unit 134 may be an example of an imaging unit. The farm work unit 138 may be an example of a storage unit. The control unit 220 may be an example of a control unit.

  In the present embodiment, the base unit 130 has a control unit 220 and a power supply unit 230. The control unit 220 and the power supply unit 230 may be built in the base unit 130. At least one of the control unit 220 and the power supply unit 230 may be detachably provided on the base unit 130. In one embodiment, at least one of the control unit 220 and the power supply unit 230 is detachably disposed inside the base unit 130. In another embodiment, at least one of the control unit 220 and the power supply unit 230 is detachably provided outside the base unit 130. The control unit 220 and the power supply unit 230 may be an example of an attachment configured to be detachable from the base unit 130.

  In the present embodiment, the moving unit 132 moves the agricultural work robot 102. The power of the moving unit 132 may be electric power, an internal combustion engine, or a steam engine. For example, the moving unit 132 converts the electric power supplied from the power supply unit 230 into power, and moves the agricultural work robot 102. In the present embodiment, the moving unit 132 may have a built-in power source that generates power using the power supplied from the power supply unit 230. Examples of the power source include a motor and an actuator.

  In one embodiment, the mobile unit 132 includes wheels for moving on land and a power source for driving the wheels. In another embodiment, the mobile unit 132 includes an endless track for traveling on land and a power source for driving the endless track. In still another embodiment, the moving unit 132 may include a screw for moving on or under water, and a power source for driving the screw. The moving unit 132 may further include a buoyancy material for obtaining buoyancy. In still another embodiment, the moving unit 132 may include a propeller for moving in the air, and a power source for driving the propeller. The moving unit 132 may further include a balloon or an air sac for floating in the air.

  In the present embodiment, the imaging unit 134 images various subjects. For example, the imaging unit 134 includes at least one of (i) the worker 12, (ii) the farm work robot 102, (iii) the surrounding environment of the farm work robot 102, (iv) the farm product 30, and (v) the surrounding environment of the farm product 30. One is imaged. An example of the surrounding environment of the agricultural work robot 102 is a storage room 104. The surrounding environment of the agricultural product 30 may be, for example, the inside of the field or the vicinity of the field. The imaging unit 134 may image the soil at the position where the agricultural product 30 is growing, as the surrounding environment of the agricultural product 30.

  In one embodiment, the imaging unit 134 is detachably provided outside the base unit 130. In another embodiment, the imaging unit 134 is provided in another unit. For example, the imaging unit 134 is built in the base unit 130. The imaging unit 134 may be incorporated in the farm work unit 138. The imaging unit 134 may be incorporated in the control unit 220.

  The imaging unit 134 may be arranged in front of the base unit 130 in the traveling direction, or may be arranged behind the base unit 130 in the traveling direction. The imaging unit 134 may be provided on a side surface of the agricultural work robot 102. The imaging unit 134 may be provided on the upper surface of the base unit 130 or may be provided on the lower surface of the base unit 130.

  In the present embodiment, the imaging unit 134 captures at least one of a still image and a moving image. It is preferable that the imaging unit 134 can capture a moving image. The imaging unit 134 may be a visible light camera or an infrared camera.

  The imaging unit 134 may include a manipulator and an imaging device attached to a tip of the manipulator. The manipulator can use the power supplied from the power supply unit 230 to arrange the above-described imaging device at any position and posture.

  In the present embodiment, the farm work unit 138 may be an attachment for farm work. For example, a farm work unit 138 according to the application is attached to the base unit 130. Thereby, the farm work robot 102 can perform a plurality of different types of farm work.

  In the present embodiment, the farm work unit 138 may be a unit specialized for one or more farm work. The agricultural work unit 138 includes a chemical sprayer for pest control, a fertilizer sprayer for spraying fertilizer, a gas sprayer for spraying gas, a ridger, a seedling dropper, a seed sowing device, a tillage device, and unnecessary branches and leaves. Manipulator having a jig for cutting, a manipulator having a jig for plucking agricultural products, a mowing device (for example, a mowing device for an abandoned field), a watering device, a bird and beast threatening device (for example, voice, It is a device that threatens birds and beasts with light.), A thinning device, a flower-picking device, a fruit-tree-thinning device, a bag-hanging device (for example, a bag-hanging device for fruit trees), an accommodation device that accommodates harvested agricultural products 30, and the like. Can be exemplified.

  In the present embodiment, the farm work unit 138 is detachably held by the base unit 130. The farm work unit 138 may include a power source that generates power for driving the farm work unit 138 using the power supplied from the power supply unit 230. Examples of the power source include a motor and an actuator.

  In the present embodiment, the sensor unit 210 measures various physical quantities. For example, the sensor unit 210 measures at least one of a physical quantity related to the worker 12, a physical quantity related to the agricultural work robot 102, a physical quantity related to the agricultural product 30, and a physical quantity related to the surrounding environment of the agricultural product 30. Thereby, information on the growth environment of the agricultural product 30 can be obtained.

  Examples of the physical quantity related to the agricultural product 30 include a color, a shape, a size, a composition, a content of a specific component, and hardness of the agricultural product 30. Examples of the physical quantity related to the surrounding environment of the agricultural product 30 include information on soil, information on the atmosphere, information on light intensity, and the like. Examples of the information on soil include pH, temperature, moisture content, particle size distribution, hardness, and components, bacteria and viruses contained in soil. Examples of components contained in soil include organic matter (carbon), nitrogen, phosphorus, potassium, magnesium, calcium, sulfur, iron, manganese, boron, zinc, molybdenum, copper, and chlorine. Examples of the information about the atmosphere include temperature, pressure, humidity, carbon dioxide concentration, nitrogen concentration, oxygen concentration, wind direction and air volume.

  In one embodiment, the sensor unit 210 is detachably disposed outside the base unit 130. In another embodiment, the sensor unit 210 is arranged in another unit. For example, the sensor unit 210 is built in the base unit 130. The sensor unit 210 may be incorporated in the agricultural work unit 138. The sensor unit 210 may be incorporated in the control unit 220.

  The measurement result of the sensor unit 210 may be stored in the storage device of the agricultural work robot 102 or may be transmitted to the management server 150. The agricultural work robot 102 may analyze the measurement result of the sensor unit 210 and transmit the analysis result to the management server 150.

  In the present embodiment, the control unit 220 controls the agricultural work robot 102. In one embodiment, the control unit 220 communicates with each unit and controls the operation of the unit according to the type of the unit. The control unit 220 may control the operation of one or a plurality of units according to the combination of the plurality of units.

  For example, the control unit 220 communicates with at least one of the moving unit 132, the imaging unit 134, the farm work unit 138, the sensor unit 210, the power supply unit 230, the vibration suppression unit 240, and the balance adjustment unit 250. The communication method may be wire communication or wireless communication. When the communication method between the control unit 220 and the other units is a wired communication, the base unit 130 may transmit information between the control unit 220 and the other units (sometimes referred to as a bus). )).

  In another embodiment, the control unit 220 communicates with the management server 150 and sends information about the farm work robot 102 to the management server 150. For example, the control unit 220 acquires the position information of the agricultural work robot 102 and transmits the position information to the management server 150. According to another example, the control unit 220 associates the position information of the agricultural work robot 102 with the information acquired by the sensor unit 210 at the position indicated by the position information and transmits the information to the management server 150.

  The position information only needs to be information indicating the position of the agricultural work robot 102, and the content of the position information and the acquisition method are not particularly limited. The control unit 220 may specify the position of the farm work robot 102 by an arbitrary self-position estimation method. The control unit 220 may receive the GPS signal and specify the position of the agricultural work robot 102 based on the GPS signal. The control unit 220 may receive a beacon signal from a beacon transmitter installed around the farmland, and specify the position of the agricultural work robot 102 based on the beacon signal. The position of the agricultural work robot 102 may be determined based on the radio wave intensity of the radio wave. The control unit 220 analyzes the image around the farm work robot 102 captured by the imaging unit 134, and specifies the position of the farm work robot 102 from the angle between the plurality of landmarks whose positions are known and the farm work robot 102. Is also good.

  The control unit 220 may acquire information for controlling the farm work robot 102 from the management server 150. The information for controlling the agricultural work robot 102 may be information on an operation to be performed by the agricultural work robot 102 now. The control unit 220 may control the operation of the unit related to the information based on the information acquired from the management server 150.

  In the present embodiment, the power supply unit 230 supplies power to at least one of the moving unit 132, the imaging unit 134, the farm work unit 138, the sensor unit 210, the control unit 220, the vibration suppression unit 240, and the balance adjustment unit 250. The power supply unit 230 may be detachably provided to the base unit 130. Thereby, the agricultural work robot 102 can mount the power supply unit 230 having a weight and a capacity according to the work. The power supply unit 230 may be used as the balance adjustment unit 250.

  In the present embodiment, the vibration suppression unit 240 controls the vibration. For example, the vibration suppression unit 240 controls at least one vibration of the imaging unit 134, the sensor unit 210, and the farm work unit 138. The vibration suppression unit 240 may control the vibration according to a command from the control unit 220. The vibration damping unit 240 may have a power source that generates power for driving the vibration damping unit 240 using electric power supplied from the power supply unit 230. Examples of the power source include a motor and an actuator.

  In the present embodiment, the balance adjustment unit 250 has a weight. The balance adjustment unit 250 is detachably held by the base unit 130. Depending on the weight of the unit mounted on the base unit 130 and the position of the center of gravity, the weight balance of the agricultural work robot 102 is deteriorated, and the agricultural work robot 102 becomes unstable. Therefore, the weight balance of the agricultural work robot 102 can be adjusted by mounting the balance adjustment unit 250 at an appropriate position on the base unit 130.

  The balance adjustment unit 250 may be a manipulator having a weight at the tip. The position of the center of gravity of the agricultural work robot 102 can be changed by the manipulator changing the relative position between the weight and the base unit 130. The manipulator may be an example of a power source.

  FIG. 3 schematically illustrates an example of the agricultural work robot 102. In FIG. 3, details of the agricultural work robot 102 will be described by taking as an example a case where the agricultural work unit 138 is a storage unit for storing the harvested agricultural products 30. In the present embodiment, the agricultural work unit 138 includes a storage box 320 and an adapter 340. The storage box 320 may be an example of a first attachment or a second attachment. Adapter 340 may be an example of an adjustment unit.

  In the present embodiment, the storage box 320 stores the harvested agricultural products 30. In the present embodiment, the storage box 320 has a main body 322. The main body 322 has, for example, a box shape. In the present embodiment, a space 324 for accommodating the harvested agricultural products 30 is formed in the main body 322 of the accommodation box 320. Further, a protrusion 326 is formed on a side surface of the main body 322 so as to protrude from the side surface toward the outside of the main body 322. In the present embodiment, the protrusions 326 are provided on each of two opposite side surfaces of the main body 322. The protrusion 326 is attached to, for example, an outer surface of the side surface of the main body 322. The protrusion 326 may be formed integrally with the main body 322 on a surface outside the side surface of the main body 322. The main body 322 may be an example of a housing.

  In the present embodiment, the adapter 340 is disposed between the housing box 320 and the base unit 130 when the housing box 320 is mounted on the base unit 130. In the present embodiment, the adapter 340 has a main body 342. In the present embodiment, a protrusion 343 is formed on one surface of the main body 342. The adapter 340 is fixed to the base unit 130 by inserting the protrusion 343 of the adapter 340 into the opening 302 arranged on the base unit 130.

  In the present embodiment, the adapter 340 has an actuator 346. One end of the actuator 346 is coupled to, for example, a box holder 344. In the present embodiment, the actuator 346 raises and lowers the box holder 344 using electric power supplied from the power supply unit 230. The actuator 346 may raise and lower the box holder 344 based on a control signal from the control unit 220.

  Thereby, the distance between the ground surface of the agricultural work robot 102 and the storage box 320 can be adjusted. The distance between the ground contact surface of the agricultural work robot 102 and the storage box 320 may be the distance between the contact surface of the agricultural work robot 102 and the representative point of the storage box 320. Examples of the representative points of the storage box 320 include (i) the center of gravity of the main body 322, and (ii) one or more points on the bottom surface of the main body 322. The distance between the ground surface of the agricultural work robot 102 and the storage box 320 may be the minimum value of the distance between the ground surface of the agricultural work robot 102 and the storage box 320.

  In one embodiment, the control unit 220 controls the actuator 346 to repeatedly execute the raising / lowering operation of the box holder 344. In another embodiment, the control unit 220 controls the actuator 346 to rapidly raise the box holder 344 and lower the box holder 344 rapidly. With these controls, the agricultural work robot 102 can apply vibration to the storage box 320. As a result, the positional deviation of the agricultural product 30 inside the storage box 320 can be corrected.

  In the present embodiment, the adapter 340 has a mass meter 348. The mass meter 348 may measure the mass of the crop stored in the storage box 320. The mass meter 348 may measure the mass of the crop stored in the storage box 320 based on the magnitude of the current supplied to the actuator 346. The mass meter 348 may transmit the measurement result to the control unit 220.

  In the present embodiment, an embodiment in which the base unit 130 and the adapter 340 are fixed by inserting the protrusion 343 arranged on the main body 342 of the adapter 340 into the opening 302 penetrating the base unit 130. Explained. However, the method for fixing the base unit 130 and the adapter 340 is not limited to the present embodiment. In another embodiment, the base unit 130 and the adapter 340 may be fixed by inserting the protrusion 343 provided on the main body 342 of the adapter 340 into a recess provided on the base unit 130. In still another embodiment, the base unit 130 and the adapter 340 may be fixed by inserting the protrusion arranged on the base unit 130 into the recess arranged on the main body 342 of the adapter 340.

  Another example of the storage box 320 will be described with reference to FIGS. 4 to 6. The items described for the storage box 320 and each part thereof may be applied to other examples of the storage box 320 described with reference to FIGS. 4 to 6 and each part thereof within a technically consistent range. Similarly, the items described for the other examples of the storage box 320 and each part thereof with reference to FIGS. 4 to 6 may be applied to the storage box 320 and each part thereof. In addition, in the description of FIGS. 4 to 6, the description of the same items as those of the storage box 320 or a part thereof may be omitted.

  FIG. 4 schematically illustrates an example of the storage box 420. In the present embodiment, the storage box 420 differs from the storage box 320 in that the storage box 420 includes a partition 412 and a partition 414 disposed inside the space 324. In the present embodiment, the storage box 420 is different from the storage box 320 in that the storage box 420 includes a mass scale 432, a mass scale 434, and a mass scale 436. Regarding points other than the above differences, the storage box 420 may have the same configuration as the storage box 320. The storage box 420 may be an example of a first attachment or a second attachment.

  In the present embodiment, a partition 422, a partition 424, and a partition 426 separated by the partition 412 and the partition 414 are formed in the main body 322 of the storage box 420. In the present embodiment, the harvested agricultural products 30 are stored in the sections 422, 424, and 426. For example, each of the section 422, the section 424, and the section 426 stores agricultural products 30 having different qualities.

  In the present embodiment, each of the mass meter 432, the mass meter 434, and the mass meter 436 measures the mass of an object accommodated in each of the sections 422, 424, and 426. By measuring the mass of the contents of each of the section 422, the section 424, and the section 426, it is possible to specify what quality of the agricultural product 30 has been harvested and how much.

  In the present embodiment, each of the mass scales 432, 434, and 436 may transmit the measurement result to the control unit 220. The control unit 220 may transmit the measurement results of the mass scales 432, 434, and 436 to the communication terminal 22 or the management server 150.

  FIG. 5 schematically illustrates an example of the storage box 520. In the present embodiment, the storage box 520 differs from the storage box 420 in that an opening 526 that penetrates the main body 322 is formed on a side surface of the main body 322. In the present embodiment, the openings 526 are provided on each of two opposite side surfaces of the main body 322.

  In this embodiment, the partition wall 412 and the partition wall 414 are different from the storage box 420 in that the rod-shaped or plate-shaped member is disposed so as not to impede the penetration of the main body 322 through the two openings 526. Of the partition 412 and the partition 414 of FIG. In one embodiment, the length of the partition wall 412 is set so as not to hinder the rod-shaped or plate-shaped member from penetrating the main body 322 through the two openings 526. In another embodiment, the partition 414 has an opening 528 that penetrates the partition 414 at a position where the straight line connecting the two openings 526 and the partition 414 collide with each other.

  In the present embodiment, the storage box 520 differs from the storage box 420 in that the protrusion 326 is not formed on the side surface of the main body 322. Regarding points other than the above differences, the storage box 520 may have the same configuration as the storage box 420. The storage box 520 may be an example of a first attachment or a second attachment.

  FIG. 6 schematically shows an example of the storage box 620. In the present embodiment, the storage box 620 differs from the storage box 420 in that an opening 526 is formed on the side surface of the main body 322. In the present embodiment, the openings 526 are provided on each of two opposite side surfaces of the main body 322.

  In the present embodiment, the storage box 620 differs from the storage box 420 in that the storage box 620 has a protrusion 630 that protrudes from the inside of the main body 322 to the outside of the main body 322 via the opening 526. The protruding portion 630 has, for example, a cross-sectional shape that can pass through the opening 526, and has a protruding member 632 having a length greater than the extension distance of the opening 526. The protrusion 630 may have a fastening member 634 coupled to one end of the protrusion member 632. The fastening member 634 has a cross-sectional shape that cannot pass through the opening 526. Thus, the fastening member 634 prevents the protrusion 630 from passing from the inside of the main body 322 to the outside of the main body 322 via the opening 526. The protrusion 630 may be configured to be detachable from the main body 322.

  In the present embodiment, the storage box 620 is different from the storage box 420 in that the protrusion 326 is not formed on the side surface of the main body 322. Regarding points other than the above differences, the storage box 520 may have the same configuration as the storage box 420. The storage box 520 may be an example of a first attachment or a second attachment.

  FIG. 7 schematically illustrates an example of the agricultural work robot 702. Another example of the farm work robot 102 will be described with reference to FIG. The items described for the farm work robot 102 and each part thereof may be applied to the farm work robot 702 and each part thereof within a technically consistent range. In addition, the items described for the farm work robot 702 and each part thereof may be applied to the farm work robot 102 and each part thereof. In the description of FIG. 7, the description of the same items as those of the agricultural work robot 102 or a part thereof may be omitted.

  In FIG. 7, details of the agricultural work robot 702 will be described by taking as an example a case where the agricultural work unit 138 is a storage unit for storing the harvested agricultural products 30. In the present embodiment, the agricultural work unit 138 is different from the agricultural work unit 138 described with reference to FIG. 3 in that the agricultural work unit 138 includes a storage box 720 and an adapter 740. Further, in the present embodiment, the moving unit 132 is different from the moving unit 132 described with reference to FIG.

  The storage box 720 may be an example of a first attachment or a second attachment. The adjustment unit 730 may be an example of an adjustment unit.

  In the present embodiment, the storage box 720 stores the harvested agricultural products 30. In the present embodiment, the storage box 720 has a main body 322. The storage box 720 differs from the storage box 320 in that a protrusion 728 that protrudes from the surface toward the outside of the main body 322 is formed on the outer surface of the bottom surface of the main body 322. Regarding points other than the above differences, the storage box 720 may have the same configuration as the storage box 320.

  The items described for the storage box 420, the storage box 520, the storage box 620, and each of these components may be applied to the storage box 720 and the respective components within a technically consistent range. Similarly, the items described for the storage box 720 and each part thereof may be applied to the storage box 320, the storage box 420, the storage box 520, the storage box 620, and each of these parts.

  In the present embodiment, when the storage box 720 is mounted on the base unit 130, the adapter 740 is disposed between the storage box 720 and the base unit 130. In the present embodiment, the adapter 740 has a main body 742. In the present embodiment, a protrusion 743 is formed on one surface of the main body 742. The adapter 740 is fixed to the base unit 130 by inserting the protrusion 743 of the adapter 740 into the opening 302 arranged on the base unit 130. In the present embodiment, a recess 744 is formed on the other surface of the main body 742. The adapter 740 holds the storage box 720 by inserting the protrusion 728 of the storage box 720 into the recess 744 of the adapter 740.

  In the present embodiment, an embodiment in which the base unit 130 and the adapter 740 are fixed by inserting the protrusion 743 disposed on the main body 742 of the adapter 740 into the opening 302 penetrating the base unit 130. Explained. However, the method for fixing the base unit 130 and the adapter 740 is not limited to the present embodiment. In another embodiment, the base unit 130 and the adapter 740 may be fixed by inserting the protrusion 743 provided on the main body 742 of the adapter 740 into the concave portion provided on the base unit 130. In still another embodiment, the base unit 130 and the adapter 740 may be fixed by inserting the protrusion arranged on the base unit 130 into the recess arranged on the main body 742 of the adapter 740.

  In the present embodiment, the embodiment has been described in which the adapter 740 holds the storage box 720 by inserting the protrusion 728 of the storage box 720 into the recess 744 arranged in the main body 742 of the adapter 740. However, the method by which the adapter 740 holds the storage box 720 is not limited to the present embodiment. In another embodiment, the protrusion disposed on the main body 742 of the adapter 740 is inserted into a recess formed on the outer surface of the bottom surface of the storage box 720 or an opening formed on the bottom surface of the storage box 720. , The adapter 740 may hold the storage box 720.

  In the present embodiment, the height adjustment unit 730 adjusts the relative position between the moving unit 132 and the base unit 130. The height adjustment unit 730 may adjust the above-described relative position by using the power supplied from the power supply unit 230. The height adjustment unit 730 may adjust the relative position based on a control signal from the control unit 220.

  For example, the height adjustment unit 730 adjusts the difference between the distance from the ground contact surface of the agricultural work robot 702 to the representative point of the mobile unit 132 and the distance from the contact surface of the agricultural work robot 702 to the representative point of the base unit 130. As the representative points of the mobile unit 132, (i) the center of gravity of the mobile unit 132, (ii) one or more points on the ground plane of the mobile unit 132 can be exemplified. Examples of the representative points of the base unit 130 include (i) the center of gravity of the base unit 130, and (ii) one or more points on the bottom surface of the base unit 130. The height adjustment unit 730 may adjust the difference between the minimum value of the distance from the ground contact surface of the agricultural work robot 702 to the mobile unit 132 and the minimum value of the distance from the contact surface of the agricultural work robot 702 to the base unit 130.

  Thereby, the position of the storage box 720 in the agricultural work robot 702 is adjusted. Further, the distance between the ground surface of the agricultural work robot 702 and the storage box 720 is adjusted. The distance between the ground contact surface of the agricultural work robot 702 and the accommodation box 720 may be the distance between the contact surface of the agricultural work robot 702 and a representative point of the accommodation box 720. Examples of the representative points of the storage box 720 include (i) the center of gravity of the main body 322, and (ii) one or more points on the bottom surface of the main body 322. The distance between the grounding surface of the agricultural work robot 702 and the storage box 720 may be the minimum value of the distance between the grounding surface of the agricultural work robot 702 and the storage box 720.

  In one embodiment, the control unit 220 controls the height adjustment unit 730 to repeatedly execute the elevating operation of the base unit 130. In another embodiment, the control unit 220 controls the elevation unit 730 to rapidly raise the base unit 130 or rapidly lower the base unit 130. With these controls, the agricultural work robot 702 can apply vibration to the storage box 720. As a result, the positional deviation of the agricultural product 30 inside the storage box 720 can be corrected.

[Description of each part of storage 104]
The details of the storage 104 will be described with reference to FIGS. FIG. 8 schematically shows an example of a plan view inside the storage 104. FIG. 9 schematically illustrates an example of a sectional view of the storage 104 taken along the line AA. FIG. 10 schematically shows an example of a BB cross-sectional view of the storage 104. For the purpose of simplifying the description, the farm work robot 102 and the storage box 320 are shown by dotted lines in FIGS.

  In the present embodiment, the storage 104 accommodates a working machine such as the agricultural work robot 102 inside the storage 104. The storage 104 stores an attachment such as a storage box 320 inside the storage 104. The storage 104 may house the attachment with the attachment removed from the work machine. The storage 104 may store the harvested agricultural products 30 inside the storage 104.

  In this embodiment, the storage 104 may include a housing 800, a holding member 832 and a holding member 834, a control device 850, a power supply 860, a solar power generation device 862, and a mirror 870. In the present embodiment, the housing 800 has an upper surface 801, a bottom surface 803, a front surface 804, a rear surface 806, and side surfaces 808. Thus, a space for accommodating (i) a working machine such as the agricultural work robot 102 and (ii) an attachment such as the accommodating box 320 is formed inside the housing 800.

  The housing 800 may be an example of a housing of the housing system. The holding member 832 and the holding member 834 may be examples of a holding unit. The bottom surface 803 may be an example of the bottom of the housing. The mirror 870 may be an example of a display unit and a reflection member.

  In the present embodiment, a door 814 is provided on the front face 804. The door 814 is provided with a locking section 824 for locking the door 814. In the present embodiment, a door 816 is provided on the back surface 806. The door 816 is provided with a locking section 826 for locking the door 816. In this embodiment, the agricultural work robot 102 enters the inside of the housing 800 from the side of the door 814, and advances out of the housing 800 from the side of the door 816.

  In the present embodiment, the locking unit 824 may control locking and unlocking of the door 814 based on control signals from at least one of the communication terminal 22, the control device 850, and the agricultural work robot 102. In the present embodiment, the locking unit 826 may control locking and unlocking of the door 816 based on control signals from at least one of the communication terminal 22, the control device 850, and the agricultural work robot 102.

  In the present embodiment, the holding member 832 and the holding member 834 are arranged inside the housing 800, for example. The holding member 832 and the holding member 834 may be supported by the housing 800. In the present embodiment, the holding members 832 and 834 extend from the door 814 toward the door 816. The holding member 832 and the holding member 834 are attached to the side surface 808 of the housing 800 such that, for example, the extending direction of the holding member 832 and the holding member 834 is substantially parallel to the bottom surface 803. Note that the arrangement of the holding members 832 and 834 is not limited to the present embodiment. In another embodiment, at least a part of the holding member 832 and the holding member 834 may be disposed outside the housing 800.

  In the present embodiment, the holding members 832 and 834 hold the attachment. In the present embodiment, the holding member 832 holds one of the protrusions 326 of the storage box 320, and the holding member 834 holds the other of the protrusion 326 of the storage box 320. The holding member 832 and the holding member 834 may hold a plurality of storage boxes 320. For example, the holding members 832 and 834 hold one or a plurality of storage boxes 320 in which the agricultural products 30 are stored and one or a plurality of empty storage boxes 320.

  In the present embodiment, the housing box 320 is held by the holding members 832 and 834 by placing the protrusions 326 of the housing box 320 on the upper surfaces of the holding members 832 and 834. However, the method by which the holding members 832 and 834 hold the storage box 320 is not limited to the present embodiment. In another embodiment, the housing box 320 is held by the holding members 832 and 834 by suspending the protrusions 326 of the housing box 320 on the lower surfaces of the holding members 832 and 834. In yet another embodiment, the housing box 320 is held by the holding members 832 and 834 by holding the protrusions 326 of the housing box 320 on the side surfaces of the holding members 832 and 834.

  The holding member 832 and the holding member 834 may include a roller conveyor or a belt conveyor. The holding member 832 and the holding member 834 may have a roller conveyor or a belt conveyor on a surface that contacts the storage box 320. The roller conveyor or belt conveyor may or may not be electric.

  The holding member 832 and the holding member 834 may have a slope at least at an end on the side of the door 814. For example, at the end of the holding member 832 and the holding member 834 on the side of the door 814, the upper surface of each holding member and the bottom surface 803 of the housing 800 are arranged from the end of each holding member toward the center of each holding member. Distance monotonically increases. Thereby, the farm work robot 102 moves the area below the holding members 832 and 834 substantially parallel to the extending direction of the holding members 832 and 834 (the left-right direction in FIG. 8). The storage box 320 attached to the farm work robot 102 is removed from the farm work robot 102.

  The holding member 832 and the holding member 834 may have a slope at an end on the side of the door 816. For example, at the end of the holding member 832 and the holding member 834 on the side of the door 816, the upper surface of each holding member and the bottom surface 803 of the housing 800 are arranged from the center of each holding member toward the end of each holding member. Distance monotonically decreases. Thereby, the farm work robot 102 moves the area below the holding members 832 and 834 substantially parallel to the extending direction of the holding members 832 and 834 (the left-right direction in FIG. 8). The storage box 320 held by the holding members 832 and 834 is attached to the agricultural work robot 102.

  In the present embodiment, the holding members 832 and 834 hold the storage box 320 removed from the agricultural work robot 102. In one embodiment, the housing box 320 is detached from the farm work robot 102 by the operation of the farm work robot 102 inside the housing 800, and is held by the holding members 832 and 834. For example, the holding member 832 and the holding member 834 are configured to hold the storage box 320 attached to the farm work robot 102 by using the operation in which the farm work robot 102 moves around the holding member 832 and the hold member 834. Is done.

  In another embodiment, the housing box 320 held by the holding members 832 and 834 is attached to the farm work robot 102 by the operation of the farm work robot 102 inside the housing 800. For example, the holding box 832 and the holding member 834 are moved by using the operation in which the agricultural work robot 102 moves around the holding member 832 and the holding member 834. It is configured to be attached to the farm work robot 102.

[Procedure for removing the storage box from the farm work robot]
According to the present embodiment, the farm work robot (for example, the farm work robot 102, the farm work robot 702, or the like) moves the holding member 832 and the holding member 834 inside the housing 800 below the holding member 832 and the holding member 834. The storage box (for example, the storage box 320, the storage box 720, etc.) is removed from the agricultural work robot by moving in a direction substantially parallel to the stretching direction (the left-right direction in FIGS. 8 and 9). For example, while the farm work robot moves below the holding member 832 and the holding member 834 inside the housing 800 and substantially parallel to the extending direction of the holding member 832 and the holding member 834, the farm work robot moves on the bottom surface of the housing 800. Adjust the distance between 803 and the storage box. Thereby, the storage box is separated from the agricultural work robot 102.

  In one embodiment, the control unit 220 controls the actuator 346 of the farm work unit 138 to adjust the distance between the bottom surface 803 of the housing 800 and the storage box 320. In another embodiment, the control unit 220 controls the height adjustment unit 730 of the moving unit 132 to adjust the distance between the bottom surface 803 of the housing 800 and the storage box 720.

  For example, the control unit 220 controls the actuator 346 or the height adjustment unit 730 as follows. First, the control unit 220 controls the moving unit 132 such that the farm work robot enters the inside of the housing 800 from the front 804 side and proceeds toward the holding members 832 and 834. Next, when the control unit 220 approaches the end of the holding member 832 and the holding member 834 on the front surface 804 side, the lower surface of the protrusion 326 is positioned higher than the upper surfaces of the holding member 832 and the holding member 834. It controls the actuator 346 or the elevation 730 as arranged.

  Next, the control unit 220 controls the moving unit 132 so that the agricultural work robot moves below the holding members 832 and 834 in a direction substantially parallel to the extending direction of the holding members 832 and 834. When the agricultural work robot moves to a predetermined position, the control unit 220 controls the actuator 346 or the height adjustment unit 730 such that the lower surface of the protrusion 326 contacts the upper surfaces of the holding members 832 and 834.

  Next, the control unit 220 controls the actuator 346 to lower the adapter 340 to a position where the housing box 320 does not come into contact with the adapter 340. The control unit 220 may control the height adjustment unit 730 to lower the adapter 740 to a position where the accommodation box 720 does not contact the adapter 740. Thereafter, the control unit 220 controls the moving unit 132 to move the agricultural work robot to an arbitrary position inside the housing 800.

[Procedure for attaching the accommodation box to the farm work robot]
According to the present embodiment, the farm work robot (for example, the farm work robot 102, the farm work robot 702, or the like) moves the holding member 832 and the holding member 834 inside the housing 800 below the holding member 832 and the holding member 834. The storage boxes (for example, the storage box 320 and the storage box 720) held by the holding member 832 and the holding member 834 are attached to the agricultural work robot by moving substantially parallel to the extending direction of the farming robot. For example, while the farm work robot moves below the holding member 832 and the holding member 834 inside the housing 800 and substantially parallel to the extending direction of the holding member 832 and the holding member 834, the farm work robot moves on the bottom surface of the housing 800. Adjust the distance between 803 and the storage box. Thereby, the storage box is mounted on the agricultural work robot.

  In one embodiment, the control unit 220 controls the actuator 346 of the farm work unit 138 to adjust the distance between the bottom surface 803 of the housing 800 and the storage box 320. In another embodiment, the control unit 220 controls the height adjustment unit 730 of the moving unit 132 to adjust the distance between the bottom surface 803 of the housing 800 and the storage box 720.

  For example, the control unit 220 controls the actuator 346 or the height adjustment unit 730 as follows. First, the control unit 220 controls the moving unit 132 so that the agricultural work robot moves to a position below the storage box held by the holding members 832 and 834. When the agricultural work robot moves to a position below the storage box held by the holding members 832 and 834, the control unit 220 controls the actuator 346 to bring the storage box 320 into contact with the adapter 340. The control unit 220 may control the height adjustment unit 730 to bring the storage box 720 into contact with the adapter 740. Thereby, the farm work robot can hold the storage box.

  Next, the control unit 220 controls the moving unit 132 so that the agricultural work robot moves below the holding members 832 and 834 in a direction substantially parallel to the extending direction of the holding members 832 and 834. When the entire storage box has passed the end on the back surface 806 side of the holding members 832 and 834, the control unit 220 controls the actuator 346 to move the position of the storage box 320 to a position suitable for movement. Let go down. The control unit 220 may control the height adjustment unit 730 to lower the position of the storage box 720 to a position suitable for movement. Thereafter, the control unit 220 controls the moving unit 132 to cause the agricultural work robot to advance outside the housing 800.

  In the present embodiment, the control device 850 controls each part of the storage 104. For example, the control device 850 controls locking and unlocking of at least one of the locking unit 824 and the locking unit 826. The control device 850 may control charging of the agricultural work robot 102. The control device 850 may control communication with an external information processing device. Communication between the agricultural work robot 102 and an external information processing device may be relayed.

  In the present embodiment, the power supply 860 supplies power to each unit of the storage 104. The power supply 860 may include at least one of a power generation device, a power storage device, and a power conversion device. The power supply 860 may include a charging facility for charging the agricultural work robot 102. The power supply 860 supplies, for example, electric power generated by the solar power generation device 862 to each part of the storage 104 and at least one of the agricultural work robots 102. The power supply 860 may include a power storage facility that stores power generated by the solar power generation device 862. The photovoltaic power generation device 862 may be provided, for example, on the outer surface of the upper surface 801 of the housing 800.

  In the present embodiment, the mirror 870 is arranged at a position where the state of the storage box 320 attached to the agricultural work robot 102 can be displayed. The mirror 870 is disposed, for example, between the door 814 and the holding members 832 and 834. Mirror 870 may be located on an outer surface of front 804.

  According to the present embodiment, the imaging unit 134 of the agricultural work robot 102 captures an image of the mirror 870, so that the control unit 220 of the agricultural work robot 102 can acquire information indicating the state of the storage box 320. Thereby, the farm work robot 102 can easily acquire the information indicating the state inside the storage box 320.

  When the agricultural products 30 are unevenly stored inside the storage box 320, the storage box 320 may be held by the holding members 832 and 834 in an unstable state. Further, for example, when the holding members 832 and 834 hold the storage box 520, at least one of the holding members 832 and 834 is connected to the inside of the storage box 520 through the opening 526 formed in the storage box 520. Penetrate through. However, when the agricultural product 30 is stored in the storage box 320 in a biased manner, at least one of the holding member 832 and the holding member 834 may not be able to pass through the storage box 520.

  Therefore, in the present embodiment, the control unit 220 determines whether or not the storage box 320 satisfies a predetermined condition based on the information indicating the state of the storage box 320. The predetermined conditions include (i) a condition that the agricultural product 30 is stored inside the storage box 320 beyond a predetermined height, and (ii) a condition that the agricultural product 30 is stored inside the storage box 320. A condition that the positional deviation satisfies a predetermined condition can be exemplified.

  When it is determined that the storage box 320 satisfies the predetermined condition, the control unit 220 controls at least one attachment attached to the farm work robot 102 such that the operation of the farm work robot 102 causes the storage box 320 to vibrate. Control. In one embodiment, the control unit 220 controls the mobile unit 132 so that the agricultural work robot 102 performs at least one of sudden start and sudden stop. The control unit 220 may control the moving unit 132 so that the agricultural work robot 102 repeatedly starts and stops suddenly.

  In another embodiment, the control unit 220 controls the actuator 346 to repeatedly perform the elevating operation of the storage box 320. The control unit 220 may control the actuator 346 to rapidly raise the storage box 320 or lower the actuator 346 rapidly.

  In still another embodiment, the control unit 220 controls the height adjustment unit 730 to repeatedly perform the elevating operation of the base unit 130. The control unit 220 may control the height adjustment unit 730 to quickly raise the base unit 130 or lower the base unit 130 rapidly.

  By these controls, the agricultural work robot can apply vibration to the storage box. As a result, the positional deviation of the agricultural product 30 inside the storage box can be corrected.

  In the present embodiment, the embodiment in which the mirror 870 reflects the state of the storage box 320 attached to the farm work robot 102 and the farm work robot 102 captures an image of the mirror 870 has been described. However, the method by which the agricultural work robot 102 acquires the information indicating the state of the storage box 320 is not limited to the present embodiment. In other embodiments, repository 104 may include a display or projector that displays images instead of mirror 870. On the display or the projector, a state of the storage box 320 attached to the agricultural work robot 102, which is captured by a camera (not shown), may be displayed.

  Another example of the storage 104 will be described with reference to FIGS. 11 to 16. Items described for the storage 104 and its components may be applied to other examples of the storage 104 described with reference to FIGS. 11 to 16 and components thereof within a technically consistent range. Similarly, the items described with respect to other examples of the storage 104 and each part thereof in relation to FIGS. 11 to 16 may be applied to the storage 104 and each part thereof. In addition, the items described in relation to any one of FIGS. 11 to 16 may be applied to other examples of the storage 104 described in relation to other drawings and respective units thereof. In addition, in the description of FIGS. 11 to 16, the description of the same items as the storage 104 or a part thereof may be omitted.

  FIG. 11 schematically illustrates an example of a cross-sectional view of the storage 1104. The storage 1104 is different from the storage 104 in that at least one of the holding member 832 and the holding member 834 is supported by the support member 1130 connected to the upper surface 801. Note that the support member 1130 may be connected to the bottom surface 803 and support at least one of the holding member 832 and the holding member 834. The storage 1104 may have the same features as the storage 104 except for the above-described differences within a technically consistent range. Storage 1104 may be an example of a storage system.

  FIG. 12 schematically illustrates an example of a cross-sectional view of the storage 1204. The storage 1204 is different from the storage 104 in that a holding member 1232 and a holding member 1242 are provided instead of the holding member 832. Note that the storage 1204 may include a holding member 1232 and a holding member 1242 instead of the holding member 834. The storage 1204 may have the same features as the storage 104 except for the above-described differences within a technically consistent range. The storage 1204 may be an example of a storage system.

  In the present embodiment, the holding member 1232 and the holding member 1242 are supported by a support member 1230 connected to the upper surface 801. The holding member 1232 holds one or a plurality of storage boxes 520. The holding member 1232 holds the storage box 520 by penetrating the storage box 520 through two openings 526 formed on both side surfaces of the storage box 520. The holding member 1242 holds one or a plurality of storage boxes 520. The holding member 1242 holds the storage box 520 by penetrating the storage box 520 through two openings 526 formed on both side surfaces of the storage box 520. Note that the support member 1230 may be connected to the bottom surface 803 to support the holding member 1232 and the holding member 1242.

  FIG. 13 schematically shows an example of a sectional view of the storage 1304. FIG. 14 schematically illustrates an example of a cross-sectional view of the storage 1304. The storage 1304 is different from the bottom surface 803 of the housing 800 in that at least a part of a region below the holding member 832 and the holding member 834 has irregularities formed along the extending direction of the holding member 832 and the holding member 834. , And the storage 104. The storage 1304 may have the same features as the storage 104 except for the above-described differences within a technically consistent range. The storage 1304 may be an example of a storage system.

  In the present embodiment, a convex portion 1342 and a convex portion 1344 are formed on the bottom surface 803 of the housing 800 near the separation position of the storage box 320. Thereby, for example, the farming robot 702 moves below the holding member 832 and the holding member 834 inside the housing 800 substantially in parallel with the extending direction of the holding member 832 and the holding member 834, so that the storage box 720 is moved. Is removed from the farm work robot 102.

  In this embodiment, a convex portion 1362 and a convex portion 1364 are formed on the bottom surface 803 of the housing 800 near the mounting position of the storage box 320. Thus, for example, the farm work robot 702 moves below the holding member 832 and the holding member 834 inside the housing 800 substantially in parallel with the extending direction of the holding member 832 and the holding member 834, so that the holding member 832 The storage box 720 held by the holding member 834 is attached to the agricultural work robot 102.

  FIG. 15 schematically shows an example of a sectional view of the storage 1504. The storage 1504 is different from the storage 104 in that a plurality of systems including a door 814, a locking unit 824, a holding member 832, a holding member 834, a door 816, a locking unit 826, and a mirror 870 are provided. The storage 1504 may have the same features as the storage 104 except for the above-described differences within a technically consistent range. Storage 1504 may be an example of a storage system.

  FIG. 16 schematically shows an example of a sectional view of the storage 1604. The storage 1604 is different from the storage 104 in that a plurality of systems including a door 814, a locking unit 824, a holding member 832, a holding member 834, and a mirror 870 are provided. According to the present embodiment, the agricultural work robot 102 is different from the storage 104 in that the farm work robot 102 enters from the door 814 of the system 1610 and exits from the door 814 of the system 1620. The storage 1604 may have the same features as the storage 104 except for the above-described differences within a technically consistent range. Storage 1604 may be an example of a storage system.

  In the present embodiment, the storage 1604 includes a system 1610 and a system 1620. The system 1610 and the system 1620 each include a door 814, a locking unit 824, a holding member 832, a holding member 834, and a mirror 870. The holding members 832 and 834 of the system 1610 may hold one or more storage boxes 320. The holding members 832 and 834 of the system 1620 may hold one or more storage boxes 320.

  In one embodiment, system 1610 and system 1620 hold different types of storage boxes 320. In another embodiment, the storage target of the storage box 320 held by the system 1610 and the storage target of the storage box 320 held by the system 1620 may be different. For example, holding member 832 and holding member 834 of system 1610 hold one or more storage boxes 320 in which produce 30 is stored. Meanwhile, the holding members 832 and 834 of the system 1620 hold one or more empty storage boxes 320.

  In the present embodiment, the embodiment in which the storage 1604 includes two systems including the door 814, the locking unit 824, the holding member 832, the holding member 834, and the mirror 870 has been described. However, the storage 1604 is not limited to this embodiment. In another embodiment, the repository 1604 includes three or more systems having a door 814, a locking portion 824, a holding member 832, a holding member 834, and a mirror 870.

  17 and 18 show an example of the storage 1704. FIG. 17 schematically shows an example of a plan view inside the storage 1704. FIG. 18 schematically shows an example of an AA cross-sectional view of the storage 1704. The storage 1704 is different from the storage 104 in that the storage 1704 includes the holding members 1732 and 1734 instead of the holding members 832 and 834. The storage 1704 may have the same features as the storage 104 except for the above-described differences within a technically consistent range. Storage 1704 may be an example of a storage system.

  In this embodiment, the holding members 1732 and 1734 differ from the holding members 832 and 834 in that the holding members 1732 and 1734 have slopes at the ends. The holding member 1732 and the holding member 1734 may have the same features as the holding member 832 and the holding member 834 except for the above-described differences within a technically consistent range.

  In the present embodiment, the holding members 1732 and 1734 extend from the door 814 toward the door 816. The holding member 1732 and the holding member 1734 may be formed using an appropriate attachment member (not shown) so that the extending direction of the holding member 1732 and the holding member 1734 is substantially parallel to the bottom surface 803 of the housing 800. It is attached to the side surface 808 of the housing 800.

  In the present embodiment, the holding members 1732 and 1734 hold the housing box 320 such that the upper surfaces of the holding members 1732 and 1734 contact the bottom surface of the housing box 320. Therefore, it is preferable that the horizontal distance between the holding members 1732 and 1734 is smaller than the width of the main body 322 of the storage box 320. Further, the storage box 320 does not need to include the protrusion 326.

  As shown in FIG. 18, in the present embodiment, an inclined region 1834 is formed at one end of the holding member 1732 in the extending direction. An inclined region 1836 is formed at the other end of the holding member 1732 in the extending direction. In the holding member 1732, a holding area 1838 is provided between the inclined area 1834 and the inclined area 1836. A roller or a bearing may be provided on the upper surface of the holding member 1732. A roller or a bearing may be provided at an end of the holding member 1732. In this embodiment, the holding member 1734 may have the same configuration as the holding member 1734.

  In the inclined region 1834, the distance between the top surface of the holding member 1732 and the bottom surface 803 of the housing 800 monotonically increases from the end of the holding member 1732 toward the center. Similarly, in the inclined region 1836, the distance between the top surface of the holding member 1732 and the bottom surface 803 of the housing 800 monotonically increases from the end of the holding member 1732 toward the center. In the holding region 1838, the upper surface of the holding member 1732 and the bottom surface 803 of the housing 800 are substantially parallel. In the holding region 1838, the upper surface of the holding member 1732 may be substantially horizontal. Thus, the holding member 1732 and the holding member 1734 can hold the storage box 320 by using the operation in which the agricultural work robot 102 moves around the holding member 1732 and the holding member 1734.

  In this embodiment, the farm work robot 102 is different from the farm work robot 102 described with reference to FIG. 3 in that the adapter 340 includes a lifting member 1744 instead of the box holder 344. The elevating member 1744 is driven by the actuator 346 to change the amount of protrusion from the upper surface of the main body 342. When moving the region below the holding member 1732 and the holding member 1734 substantially parallel to the extending direction of the holding member 1732 and the holding member 1734, the agricultural work robot 102 uses the lifting member 1744 to move the storage box from the rear side in the traveling direction. Press 320 to move the storage box 320.

  When the storage box 320 attached to the farm work robot 102 is removed from the farm work robot 102, the actuator 346 causes the elevating member 1744 to contact a predetermined area of the storage box 320 while the storage box 320 is in the inclined area 1834. Next, the protrusion amount of the elevating member 1744 is adjusted. The actuator 346 may adjust the amount of protrusion of the elevating member 1744 so that the elevating member 1744 contacts the predetermined area of the storage box 320 until the storage box 320 reaches a predetermined position in the holding area 1838. When the storage box 320 reaches a predetermined position in the holding area 1838, the actuator 346 may adjust the amount of protrusion of the lifting member 1744 so that the lifting member 1744 does not contact the storage box 320. Thus, the holding member 1732 and the holding member 1734 can hold the storage box 320 by using the operation in which the agricultural work robot 102 moves around the holding member 1732 and the holding member 1734.

  When attaching the storage box 320 held in the holding area 1838 to the farm work robot 102, first, the farm work robot 102 moves below the target storage box 320 and controls the actuator 346 to raise the elevating member 1744. . Next, the agricultural work robot 102 moves substantially parallel to the extending direction of the holding member 1732 and the holding member 1734, and pushes the storage box 320 from the rear in the traveling direction using the elevating member 1744. Thereby, the accommodation box 320 is attached to the agricultural work robot 102 at the end of the inclined area 1836. Thereafter, the actuator 346 lowers the elevating member 1744. Thereby, the holding member 1732 and the holding member 1734 use the operation in which the agricultural work robot 102 moves around the holding member 1732 and the holding member 1734 to move the storage box 320 held by the holding member 1732 and the holding member 1734. , Can be attached to the agricultural work robot 102.

  19 and 20 show an example of the storage 1904. FIG. 19 schematically shows an example of a plan view inside the storage 1904. FIG. 20 schematically illustrates an example of a cross-sectional view taken along the line BB of the storage 1904. In the embodiment of the storage described with reference to FIG. 8 to FIG. 18, storage is performed as an example in which the holding member of the storage holds an attachment attached to the upper part of the base unit 130 of the agricultural work robot 102. The details of the warehouse were explained. However, the storage is not limited to these embodiments. The storage 1904 described with reference to FIGS. 19 and 20 differs from the storage described with reference to FIGS. 8 to 18 in that the storage 1904 holds an attachment attached to the side of the base unit 130. In the present embodiment, the attachment attached to the agricultural work robot 102 is removed by using the operation in which the agricultural work robot 102 moves along the side surface of the holding member substantially in parallel with the extending direction of the holding member. Then, the holding member arranged in the storage 1904 holds the attachment detached from the agricultural work robot 102.

  The storage 1904 is different from the storage 104 in that the storage 1904 includes a holding member 1932 and one or a plurality of stoppers 1934 instead of the holding members 832 and 834. The storage 1904 may have the same features as the storage 104 except for the above-described differences within a technically consistent range. Note that the storage 1904 may include a plurality of holding members 1932. The storage 1904 may be an example of a storage system. Further, in the present embodiment, the farm work robot 102 is different from the farm work robot 102 described with reference to FIG. 3 in that an attachment 1920 is provided instead of the farm work unit 138. Note that the attachment 1920 may be an attachment for farm work, and may not be an attachment for farm work. The farm work robot 102 may have the same features as the farm work robot 102 described with reference to FIG. 3 except for the above-described differences within a technically consistent range.

  In the present embodiment, the attachment 1920 is detachably attached to the side of the base unit 130. The attachment 1920 may be attached to the base unit 130 via the coupling member 1940. The coupling member 1940 adjusts, for example, the distance between the coupling portion detachably configured to the attachment 1920 and the side surface of the coupling portion and the side surface of the base unit 130 (for example, the distance may be referred to as the protrusion amount of the coupling portion). And an actuator that performs the operation. The attachment / detachment of the attachment 1920 and the driving amount of the actuator are controlled by the control unit 220, for example. Accordingly, even when the attachment 1920 is arranged at a position away from the base unit 130, the agricultural work robot 102 controls the actuator of the coupling member 1940 to move the coupling portion of the coupling member 1940 toward the attachment 1920. To attach the coupling portion of the coupling member 1940 and the attachment 1920. After that, the agricultural work robot 102 can control the actuator of the coupling member 1940 to pull the attachment 1920 toward the base unit 130.

  In the present embodiment, the details of the agricultural work robot 102 will be described by taking as an example a case where the base unit 130 uses the elastically extending coupling member 1940 to pull the attachment 1920 arranged at a position away from the base unit 130. Was done. However, the farm work robot 102 is not limited to this embodiment. In another embodiment, the agricultural work robot 102 may use magnetic force to draw the attachment 1920 disposed at a position away from the base unit 130.

  When detaching the attachment 1920 attached to the farm work robot 102 from the farm work robot 102, the farm work robot 102 moves near the holding member 1932 in a direction substantially parallel to the extending direction of the holding member 1932. In the present embodiment, the holding member 1932 is attached to the side surface 808 of the storage 1904 such that the distance between the upper surface of the holding member 1932 and the lower surface of the attachment 1920 is within a predetermined numerical range. The predetermined numerical range may be within 10 cm, within 5 cm, or within 1 cm. Thereafter, the agricultural work robot 102 stops at the position of the target stopper 1934. The agricultural work robot 102 extends the coupling member 1940 and arranges the attachment 1920 at a predetermined position on the holding member 1932. Then, the agricultural work robot 102 releases the connection between the connecting member 1940 and the attachment 1920. Accordingly, the holding member 1932 can hold the attachment 1920 by using the operation in which the agricultural work robot 102 moves around the holding member 1932.

  On the other hand, when attaching the attachment 1920 held by the holding member 1932 to the farm work robot 102, first, the farm work robot 102 moves to the position of the stopper 1934 holding the target attachment 1920. Next, the agricultural work robot 102 extends the connecting member 1940, and connects the connecting member 1940 and the target attachment 1920. After that, the agricultural work robot 102 reduces the size of the coupling member 1940 and attaches the attachment 1920 to the base unit 130. Accordingly, the holding member 1932 can attach the attachment 1920 held by the holding member 1932 to the farm work robot 102 by using the operation in which the farm work robot 102 moves around the hold member 1932.

  As described above, the present invention has been described using the embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments. It is apparent to those skilled in the art that various changes or improvements can be made to the above embodiment. In addition, matters described in a specific embodiment can be applied to other embodiments within a technically consistent range. It is apparent from the description of the appended claims that embodiments with such changes or improvements can be included in the technical scope of the present invention.

  The order of execution of processes such as operations, procedures, steps, and steps in the apparatuses, systems, programs, and methods shown in the claims, the description, and the drawings is particularly “before” or “before”. It should be noted that the output can be realized in any order as long as the output of the previous process is not used in the subsequent process. Even if the operation flow in the claims, the specification, and the drawings is described using “first”, “next”, or the like for convenience, it means that it is essential to implement in this order. Not something.

  Reference Signs List 10 communication network, 12 workers, 22 communication terminals, 30 agricultural products, 100 work support system, 102 farm work robot, 104 storage, 130 base unit, 132 mobile unit, 134 imaging unit, 138 farm work unit, 150 management server, 152 request Receiving unit, 154 request execution unit, 156 information storage unit, 210 sensor unit, 220 control unit, 230 power supply unit, 240 vibration damping unit, 250 balance adjustment unit, 302 opening, 320 housing box, 322 main body, 324 space, 326 protrusion Part, 340 adapter, 342 body, 343 protrusion, 344 box holder, 346 actuator, 348 mass meter, 412 partition, 414 partition, 420 storage box, 422 partition, 424 , 426 compartments, 432 mass scale, 434 mass scale, 436 mass scale, 520 storage box, 526 opening, 528 opening, 620 storage box, 630 protrusion, 632 protrusion member, 634 member, 702 agricultural work robot, 720 storage box, 728 protrusion, 730 adjustment part, 740 adapter, 742 body, 743 protrusion, 744 recess, 800 housing, 801 top, 803 bottom, 804 front, 806 back, 808 side, 814 door, 816 door, 824 locking part, 826 Locking part, 832 holding member, 834 holding member, 850 control device, 860 power supply, 862 solar power generation device, 870 mirror, 1104 storage, 1130 support member, 1204 storage, 1230 support member, 1232 holding member, 1242 holding Member, 130 Storage, 1342 convex, 1344 convex, 1362 convex, 1364 convex, 1504 storage, 1604 storage, 1610 system, 1620 system, 1704 storage, 1732 holding member, 1734 holding member, 1744 lifting member, 1834 Inclined area, 1836 Inclined area, 1838 Holding area, 1904 Storage, 1920 attachment, 1932 Holding member, 1934 Stopper, 1940 Coupling member

Claims (12)

An accommodation system for accommodating a first attachment configured to be detachable from a work machine having an autonomous movement function,
A housing in which a space for accommodating at least the working machine is formed,
A holding unit that holds the first attachment detached from the work machine;
With
The holding unit,
When the work machine moves around the holding unit, the work machine comes into contact with at least a part of the first attachment mounted on the work machine ,
In a state where the holding unit and the first attachment are in contact with each other, when the work machine continues the movement, the first attachment is held so that the first attachment is removed from the work machine,
Wherein after the first attachment is removed from the working machine, configured to hold the first attachment is removed from the working machine,
Containment system. The holding unit is configured such that, when the work machine continues the movement in a state where the holding unit and the first attachment are in contact with each other, the first attachment performs the work with the progress of the movement of the work machine. Holding the first attachment to be removed from the machine;
The containment system according to claim 1 . The housing further includes a display unit that displays a state of the first attachment attached to the work machine,
The display unit,
Having a display or projector for displaying an image of the first attachment attached to the work machine taken by any camera, or
Having a reflecting member that reflects the state of the first attachment attached to the work machine,
The storage system according to claim 1 or 2 . An accommodation system for accommodating a second attachment configured to be detachable from a work machine having an autonomous movement function,
Therein, a housing in which a space for accommodating at least the working machinery formed,
A holding unit for holding the second attachment;
With
The holding unit,
When the work machine moves around the holding section, the second attachment held by the holding section and the work machine come into contact with each other,
The work machine is configured to hold the second attachment so that the second attachment is attached to the work machine when the work machine continues the movement in a state where the work machine and the second attachment are in contact with each other. Done,
Containment system. The holding unit extends substantially parallel to a predetermined path for the work machine to move around the holding unit, and has a holding member that holds each attachment.
The storage system according to any one of claims 1 to 4. The holding member,
Attached to the side of the housing, or
Attached to a support member connected to the upper surface of the housing,
The storage system according to claim 5. The holding member has a slope at at least one end,
The storage system according to claim 5 or claim 6.   On the bottom surface of the housing, at least a part of a region below the holding member is formed with irregularities along a direction in which the holding member extends.
  The storage system according to any one of claims 5 to 7.   A first convex portion disposed near the one end of the holding member and at a position below the holding member;
  A second convex portion disposed near the other end of the holding member and below the holding member;
  Further comprising,
  A storage system according to claim 8. The holding unit has a belt conveyor or a roller conveyor,
The storage system according to any one of claims 5 to 9 .   The first attachment includes a storage unit that stores harvested agricultural products,
  The storage system according to any one of claims 1 to 3.   The second attachment includes a storage unit that stores harvested agricultural products,
  The storage system according to claim 4.