JP7408496B2 - agricultural robot - Google Patents

Description

The present invention relates to an agricultural robot.

Conventionally, an agricultural robot disclosed in Patent Document 1 has been known.
The agricultural robot disclosed in Patent Document 1 has a running body equipped with a manipulator that can harvest crops.

Japanese Patent Application Publication No. 2011-229406

Now, crops such as watermelons, melons, and pumpkins are generally cultivated (planted) in various places. The reality is that when working with agricultural robots, it is difficult to properly grasp the posture of crops.
An object of the present invention is to provide an agricultural robot that can easily grasp the posture of crops.

The agricultural robot includes a traveling body, a working part provided on the traveling body for performing work related to crops, an optical sensor provided on the traveling body, and a system based on sensing data obtained by the optical sensor. , a crop estimating unit that estimates the crop, and the crop estimating unit estimates the interval between lines, the angle of the lines, and the angle of the lines constituting the pattern of the crop, which is the surface condition of the crop obtained from the sensing data. The crop is estimated from any of the connections, line shapes, and line arrangement patterns, and the posture of the crop is estimated from the lines that appear as the pattern of the estimated crop.
The crop estimating unit estimates a posture of the crop indicated by the sensing data based on characteristic parts of the crop and lines of a pattern of the crop.

The crop estimating unit estimates the posture based on the direction of the line of the crop pattern indicated by the sensing data.
The crop estimation unit estimates the posture based on the length of the line of the crop pattern indicated by the sensing data.
The crop estimation unit estimates the posture based on a positional relationship between a characteristic part of the crop and the pattern.

The crop estimating unit estimates a contour of the crop and an obstacle that hides the estimated surface of the crop with respect to the periphery of the crop based on the sensing data.
The work unit performs work to move the obstacle estimated by the crop estimation unit away from the crop.
The plant includes a model generation unit that generates a surface condition model by performing deep learning on the relationship between the crop and the surface condition of the crop.

According to the present invention, the posture of crops can be easily grasped.

It is a side view of an agricultural robot. FIG. 2 is a side view of the agricultural robot in a working posture. It is a perspective view of a fuselage and a manipulator. It is a side view of a fuselage and a manipulator. It is a top view of a traveling device. It is a side view of a traveling device. It is a partially enlarged view of the robot hand. 1 is an overall diagram of an agricultural robot support system. FIG. 2 is a diagram showing a route along which an agricultural robot travels through a facility. FIG. 2 is a diagram showing how an agricultural robot works on crops. It is a figure showing the relationship between sensing data H11 and partial data H13. It is a figure which shows an example of partial data H13. FIG. 3 is a diagram showing the relationship between a surface state model and data. It is a figure which shows the state which extracted the stem as a characteristic part. FIG. 3 is a diagram showing a state in which a navel is extracted as a characteristic part. FIG. 3 is a diagram showing a state in which a belly button and a navel are extracted as characteristic parts. It is a figure showing the first posture of a crop. It is a figure which shows the 2nd attitude|position of a crop. It is a figure which shows the 3rd attitude|position of a crop. FIG. 3 is a diagram showing a state in which lines indicating patterns of crops extend in the vertical direction (vertical direction). It is a figure which shows the state where the line showing the pattern of a crop extends in the left-right direction (horizontal direction). It is a figure which shows the case where the pattern of a crop is below standard length. It is a figure which shows the case where the pattern of a crop exceeds a standard length. It is a figure showing the case where the length of a plurality of lines is long on the front side and short on the back side, centering on the stem of the crop. It is a figure showing the case where the length of a plurality of lines is short on the front side and long on the back side, centering on the stem of the crop. It is a figure which shows the state where a part of outline of a crop is visible in the partial image H16. 19A is a diagram showing a state in which part of the outline of the crop is visible in the partial image H16, and is a diagram different from FIG. 19A. It is a figure which shows the state where the outline of a crop is not visible in the partial image H16. FIG. 2 is an explanatory diagram illustrating the work of moving obstacles away from crops. It is a schematic diagram of the inside of a facility for greenhouse horticulture. It is a schematic plan view of a facility for greenhouse horticulture. FIG. 2 is a perspective view of the inside of a facility for greenhouse horticulture in the early stages of crop cultivation. It is a perspective view of the inside of a facility for greenhouse horticulture during the middle or late stage of crop cultivation.

An embodiment of the present invention will be described below with appropriate reference to the drawings.
1 and 2 illustrate an agricultural robot 1. FIG. The agricultural robot 1 is a robot that performs work (agricultural work) on crops 2 that are cultivated in facilities such as greenhouse horticulture, plant factories, etc. as shown in FIGS. 21 to 24. The agricultural robot 1 works on relatively heavy crops 2, such as heavy vegetables and fruits, such as watermelons, melons, and pumpkins, for example.

First, the facility will be explained using a facility for greenhouse horticulture (contained horticulture facility) as an example.
As shown in FIGS. 21 to 24, the facility 100 includes a house 101 and equipment 102 installed inside the house 101 as structures constituting the facility 100.
House 101 includes a frame 110 and covering material 111. The frame 110 constitutes the framework of the facility 100 by combining various steel materials such as I-beam steel, H-beam steel, C-beam steel, square steel, and round steel, and includes a plurality of support members 110A, It includes a plurality of connecting members 110B. As shown in FIGS. 21 to 23, the plurality of support members 110A are members that stand up from the ground, etc., and are installed at predetermined intervals in the horizontal direction X1 and at predetermined intervals in the vertical direction Y1. .

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

The equipment 102 is a variety of equipment used when cultivating the crops 2, and is an equipment that can adjust the temperature, humidity, air flow, etc. within the house 101. Specifically, the devices 102 include a ventilation fan 102A, a circulation fan 102B, a heat exchange device 102C, and the like. As shown in FIGS. 21 and 22, the ventilation fan 102A is installed on the entrance/exit 130 side of the house 101, and exhausts outside air from inside the house 101 to the outside or takes outside air into the inside of the house 101.

The circulation fan 102B is installed inside the house 101 and circulates the air inside the house 101 in a predetermined direction. The heat exchange device 102C is a device that can change the temperature of the house 101, and is configured as a heat pump, for example. The device 102 described above is an example, and may be, but is not limited to, an irrigation device, a lighting device, a spray device, or the like.

The agricultural robot 1 performs various agricultural tasks on the crops 2 grown in the cultivation place 105 within the facility 100, such as harvesting the crops 2, spraying fertilizers, and spraying pesticides. The agricultural robot 1 is an independent robot.
1 to 8 show an agricultural robot 1. FIG. FIG. 8 shows an agricultural robot support system.

The agricultural robot 1 and the agricultural robot support system will be described in detail below. In the following description, the direction indicated by arrow A1 in FIGS. 1 and 2 is referred to as the front, the direction indicated by arrow A2 is referred to as backward, and the direction indicated by arrow A3 is referred to as the front-back direction. Therefore, the direction shown by the arrow B1 in FIG. 2 (the front side in FIG. 1) is the left side, and the direction shown by the arrow B2 in FIG. 2 (the back side in FIG. 1) is the right side. Further, the horizontal direction perpendicular to the longitudinal direction A3 will be described as the fuselage width direction (direction of arrow B3 in FIG. 2).

As shown in FIG. 1, the agricultural robot 1 has a running body 3 that autonomously runs. The traveling body 3 includes a body 6 and a traveling device 7 that supports the body 6 so that the body 6 can travel.
As shown in FIGS. 3 and 4, the fuselage 6 includes a main frame 6A and a prime mover frame 6B. The main frame 6A includes a pair of first frames 6Aa spaced apart from each other in the body width direction B3, and a pair of second frames 6Ab spaced apart below each of the first frames 6Aa. ing. The first frame 6Aa and the second frame 6Ab are connected by a plurality of vertical frames 6Ac. The vertical frame 6Ac is located between the front portions of the left first frame 6Aa and the left second frame 6Ab, between the front portions of the right first frame 6Aa and the right second frame 6Ab, and between the left first frame 6Aa and the front portions. It is provided between the rear portions of the second frame 6Ab on the left and between the rear portions of the first frame 6Aa on the right and the second frame 6Ab on the right.

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

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

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

As shown in FIGS. 1, 2, and 5, the traveling device 7 includes a wheel-type traveling device 7 having four wheels 8. As shown in FIGS. Specifically, the traveling device 7 includes a first wheel 8La (left front wheel) disposed on the left side of the front part of the body 6, a second wheel 8Ra (right front wheel) disposed on the right side of the front part of the body 6, and a second wheel 8Ra (right front wheel) disposed on the right side of the front part of the body 6. The aircraft includes a third wheel 8Lb (left rear wheel) arranged on the left side of the rear part, and a fourth wheel 8Rb (right rear wheel) arranged on the right side of the rear part of the fuselage 6. Note that the traveling device 7 may be configured as a wheel type traveling device having at least three wheels 8. Moreover, the traveling device 7 may be a crawler type traveling device.

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

As shown in FIGS. 5 and 6, the wheel support 9 includes a running frame 10, a steering cylinder C1, a first lifting cylinder C2, a second lifting cylinder C3, and a running motor M1. .
The traveling frame 10 includes a main support body 10A, a swing frame 10B, and a wheel frame 10C. The main support body 10A is supported by the body 6 so as to be able to rotate around a vertical axis (an axis extending in the vertical direction). Specifically, the main support body 10A is rotatably supported by a support bracket 11 fixed to the body 6 via a first support shaft 12A having an axis extending in the vertical direction.

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

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

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

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

One end of the first elevating cylinder C2 is pivotally supported by the swing frame 10B, and the other end is pivotally supported by the first link mechanism 15A. The first link mechanism 15A includes a first link 15a and a second link 1.
5b. One end of the first link 15a is pivotally supported by the main support body 10A, and one end of the second link 15b is pivotally supported by the swing frame 10B. The other ends of the first link 15a and the second link 15b are pivotally supported by the other end of the first lifting cylinder C2. By expanding and contracting the first elevating cylinder C2, the swing frame 10B swings up and down about the second support shaft 12B.

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

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

The second wheel support 9Ra, the third wheel support 9Lb, and the fourth wheel support 9Rb have the same components as those constituting the first wheel support 9La. The second wheel support 9Ra is configured symmetrically with the first wheel support 9La. The third wheel support 9Lb has a configuration obtained by rotating the second wheel support 9Ra by 180° around a vertical center axis passing through the center of the body 6. The fourth wheel support 9Rb is formed by rotating the first wheel support 9La by 180° around the center axis.

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

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

The agricultural robot 1 includes a manipulator (work unit) 4 mounted on a running body 3. The manipulator (work unit) 4 is a part that performs work, and for example, in this embodiment, it is a device that can at least harvest the crops 2.
As shown in FIGS. 3 and 4, the manipulator 4 includes a mounting body 16 that is detachably attached to the traveling body 3 (aircraft body 6), an arm 17 attached to the mounting body 16, and an arm 17 provided on the arm 17. The robot hand 18 is equipped with a robot hand 18 that can grip the crop (object) 2 with a hand.

As shown in FIG. 1, the mounting body 16 is provided at the rear of the traveling body 3 in this embodiment. Note that the mounting body 16 may be provided at the front part of the traveling body 3. In other words, it is only necessary to provide it so as to be offset to one side from the central portion of the traveling body 3 in the front-rear direction A3. Furthermore, in this embodiment, the agricultural robot 1 performs harvesting work by moving the traveling body 3 forward, so the mounted body 16 is biased in the opposite direction of travel, which is the direction opposite to the direction of travel. It is provided. The mounting body 16 is formed in a box shape and can be attached to and detached from the traveling body 3.

A rotating frame 21 is provided upright on the mounting body 16 . The rotation frame 21 can be rotated around a rotation axis J1 by a rotation motor M2 provided inside the mounting body 16. By rotating the rotation frame 21, the robot hand 18 can be moved (changed in position) in the circumferential direction around the rotation axis J1.
As shown in FIGS. 3 and 4, the arm 17 is supported by the rotating frame 21 so as to be able to swing up and down, and can be bent and extended at an intermediate portion in the longitudinal direction. The arm 17 has a main arm 29 and a sub arm 30.

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

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

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

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

A cylinder attachment portion 32c is provided on the base side 32a of the second arm portion 32 and closer to the tip side 32b than the second arm pivot 33B. A second arm cylinder (second hydraulic cylinder) C5 is provided between the cylinder mounting portion 32c and the cylinder stay 34. The second arm cylinder C5 is driven by hydraulic oil discharged from a hydraulic pump P1 provided in the traveling body 3, and expands and contracts. By expanding and contracting the second arm cylinder C5, the second arm section 32 swings relative to the first arm section 31, and the main arm 29 (arm 17) bends and stretches (bends and extends). In this embodiment, the main arm 29 is straight in its most extended state, but may be slightly curved in its most extended state.

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

As shown in FIG. 4, the second arm cylinder C5 is provided with a second stroke sensor that detects the stroke of the second arm cylinder C5.
The sub-arm 30 is provided on the second arm portion 32 so as to be able to protrude and retreat. Therefore, by protruding and retracting the sub-arm 30, the length of the arm 17 can be expanded and contracted. The sub-arm 30 is formed into a straight line by a square pipe. The sub-arm 30 is supported so as to be movable in the longitudinal direction between the distal end sides (front parts) of the third arm frame 32L and the fourth arm frame 32R. Further, the sub-arm 30 is arranged between the opposing connecting plates 35 and can be fixed to the connecting plates 35 with a fixing device such as a bolt. One side of the sub-arm 30 is provided with a protrusion 30a that abuts the third arm frame 32L, and the other side is provided with a protrusion 30a that abuts the fourth arm frame 32R. The protrusion 30a can suppress wobbling of the sub-arm 30.

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

As shown in FIGS. 1 and 2, the robot hand 18 includes a base member 18A and a plurality of gripping claws 18B. A connecting piece 63 is provided on the upper surface side of the base member 18A. The connecting piece 63 is pivotally supported by the hanging plate 37. In other words, the robot hand 18 is suspended from the arm 17. The plurality of gripping claws 18B are swingably attached to the lower surface side of the base member 18A. The robot hand 18 is capable of grasping the crop 2 between the grasping claws 18B by swinging the plurality of grasping claws 18B (see FIG. 2), and also allows the grasped crop 2 to be held by the robot hand 18. It is possible to release it.

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

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

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

The hitting sound sensor 50C includes a hitting mechanism 51 and a recording mechanism 52. The striking mechanism 51 has a striking member 51A that can advance and retreat with respect to the crop 2 gripped by the gripping claws 18B. The striking member 51A is connected to an actuator 51B that moves the striking member 51A in the axial direction. The actuator 51B is, for example, electric and moves the striking member 51A in the axial direction in response to a control signal to strike the crop 2 and generate a striking sound. The recording mechanism 52 has a microphone (highly directional microphone) and records the hitting sound generated by hitting the crop 2 with the hitting member 51A.

As shown in FIG. 8, the agricultural robot 1 includes a control device 41. The control device 41 includes, for example, a CPU (Central Processing Unit), an EEPROM (Electrically Erasable
A microcomputer, etc. equipped with a programmable read-only memory (programmable read-only memory), etc.
The control device 41 is connected to the optical sensors 5A and 5B, the hitting sound sensor 50C, the travel motor M1, and the rotation motor M2. Further, a plurality of control valves 42 are connected to the control device 41. The control valve 42 includes a first control valve 42A, a second control valve 42B, a third control valve 42C, a fourth control valve 42D, and a fifth control valve 42E.

The first control valve 42A is a valve that controls the steering cylinder C1, the second control valve 42B is a valve that controls the first lifting cylinder C2, and the third control valve 42C is a valve that controls the second lifting cylinder C3. The fourth control valve 42D is a valve that controls the first arm cylinder C4, and the fifth control valve 42E is a valve that controls the second arm cylinder C5.
The first control valve 42A, the second control valve 42B, the third control valve 42C, the fourth control valve 42D, and the fifth control valve 42E are, for example, electromagnetic valves that operate based on a control signal from the control device 41. More specifically, the first control valve 42A, the second control valve 42B, the third control valve 42C, the fourth control valve 42D, and the fifth control valve 42E are electromagnetic valves (3-position switching (Solenoid valve).

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

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

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

The traveling control unit 41A controls the traveling device 7. That is, the travel control section 41A controls the steering cylinder C1 (first control valve 42A) and the travel motor M1. The travel control unit 41A changes the steering direction of the travel device 7 (airframe 6) by outputting a control signal to the first control valve 42A and expanding or contracting the steering cylinder C1. The traveling control unit 41A outputs a control signal to the traveling motor M1 to change the rotation speed or rotation direction of the traveling motor M1, thereby changing the speed of the traveling device 7 (aircraft body 6) and changing the speed of the traveling device 7 (aircraft body 6). ) to change the direction of travel.

Further, the traveling control unit 41A may control the elevation, descent, tilt, etc. of the aircraft body 6. For example, the traveling control unit 41A outputs a control signal to the second control valve 42B to expand and contract the first lifting cylinder C2, thereby changing the elevation and inclination of the aircraft body 6. Further, the traveling control unit 41A outputs a control signal to the third control valve 42C to expand and contract the second lifting cylinder C3, thereby changing the elevation and inclination of the aircraft body 6.

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

As described above, the work control unit 41B can move the robot hand 18 to any (desired) position. Specifically, the movement of the robot hand 18 in the circumferential direction around the rotation axis J1 due to the rotation of the rotation frame 21, the lifting and lowering of the robot hand 18 due to the vertical swing of the first arm section 31, and the movement of the robot hand 18 in the circumferential direction around the rotation axis J1 due to the rotation of the rotation frame 21, and the movement of the robot hand 18 in the circumferential direction around the rotation axis J1 due to the rotation of the rotation frame 21; The robot hand 18 can be moved to a desired position by moving the robot hand 18 in the distance direction relative to the traveling body 3 due to the swinging of the robot hand 32 .

The work control unit 41B controls the actuator 51B (impacting member 51A). For example, by outputting a control signal to the actuator 51B, the actuator 51B is actuated, and control for striking the crops 2 with the striking member 51A (blow control) is performed.
The agricultural robot 1 includes a crop estimation section 141I. The crop estimation unit 141I is an electric/electronic circuit provided in the control device 41, a program stored in the control device 41, and the like.

The crop estimation unit 141I estimates at least the posture of the crop 2 based on sensing data obtained by the optical sensor 5A or the optical sensor 5B. When the optical sensor 5A or the optical sensor 5B is an imaging device, the sensing data is a captured image (image data). When the optical sensor 5A or optical sensor 5B is a laser sensor (lidar), the sensing data is scan data including the distance and direction from the optical sensor 5A or optical sensor 5B to the sensed object (object). be.

Now, as shown in FIG. 9, when the agricultural robot 1 performs work such as harvesting, the agricultural robot 1 is moved along a passage 106 between cultivation sites 105 within the facility 100. For example, during work, the agricultural robot 1 is caused to travel along the cultivation place 105 (pathway 106) from a work start point P11 to a work end point P12.
When the agricultural robot 1 runs, the crop estimation unit 141I estimates at least the posture of the crop 2 by referring to the sensing data (captured image, scan data) H11 obtained by the optical sensor 5A or the optical sensor 5B. do.

The crop estimation unit 141I will be explained in detail below.
The crop estimation section 141I includes a data extraction section 185 and an estimation section 186. The data extraction unit 185 specifies the crop 2 to be estimated based on the sensing data (captured image, scan data) H11 as shown in FIG. Surrounding data is extracted as partial data H13.

As shown in FIG. 10, when the agricultural robot 1 is made to run autonomously in the direction of travel in order to work on the crops 2 being cultivated in the cultivation place 105, the data extraction unit 185 collects sensing data. With reference to H11, the estimated crop 2 is specified. As shown in FIG. 11, the data extraction unit 185 determines whether part of the crop 2 is included in the referenced sensing data H11. Specifically, when the sensing data H11 is a captured image, the crop 2 to be estimated is specified in the captured image by matching the feature amount of the captured image, pattern matching, or the like.

For example, the data extraction unit 185 compares the feature amount within a predetermined range of the captured image with the feature amount in a pre-prepared crop image, and if the two feature amounts match, the data extraction unit 185 If it is determined that there is a crop 2 and the feature amounts of the two do not match, it is not determined that there is a crop 2 within the predetermined range of the captured image.
Alternatively, the data extraction unit 185 compares a reference profiling prepared in advance showing the pattern, unevenness, etc. on the surface of the crop 2 and an image profiling within a predetermined range of the captured image, and determines that the reference profiling and the image profiling match. If so, it is determined that Crop 2, etc. is included within the predetermined range of the captured image, and if the reference profiling and data profiling do not match, it is determined that Crop 2 is not included within the predetermined range of the captured image. to decide.

Note that when the sensing data H11 is scan data, the data extraction unit 185 determines whether the object depicted by the scan data is the crop 2 or not. In this case, the data extraction unit 185 compares the data profiling within a predetermined range of the depicted object with the reference profiling, and if the reference profiling and the data profiling match, it is determined that the crop 2 is included in the scan data. If the reference profiling and data profiling do not match, it is determined that crop 2 is not included in the scan data.

That is, the data extraction unit 185 determines whether or not the crop 2 exists in the sensing data H11 by matching the feature amount of the captured image, pattern matching, pattern matching of the depicted object, etc., and determines that the crop 2 exists. In this case, identify the crop 2 that is determined to exist.
As shown in FIG. 12, the data extraction unit 185 extracts the area around the identified crop 2 (specific crop 2a) from the sensing data H11 as partial data H13. In other words, in the sensing image, a portion (partial image) H16 corresponding to the periphery of the specified crop 2 (specific crop 2a) is extracted.

The estimation unit 186 extracts the partial data H13 (partial image H) extracted by the data extraction unit 185.
16) The type of the specific crop 2a is estimated from the surface state W10 of the specific crop 2a obtained from step 16).
As shown in FIG. 13, the estimation unit 186 estimates the type of the specific crop 2 of the partial data H13 using a model (surface condition model) that has learned the type of the crop 2 and the surface condition W10 of the crop 2. . The surface state model inputs crop surface information in which the surface states W10 of many crops 2 and types of crops 2 are associated with each other into a computer, executes deep learning using artificial intelligence (AI) in the computer, and performs learning. This model is based on a previously used model.

Specifically, in the surface condition model, the type of crop 2 is estimated from the pattern of the specific crop 2a obtained from the partial data H13 (partial image H16) as the surface condition W10 of the specific crop 2a. For example, as shown in FIG. 12, the surface condition model includes, on the surface of the specific crop 2a, the interval between the lines W11 forming the pattern (design), the angle of the lines W11, the connection of the lines W11, the shape of the lines W11, the line W11 The type of specific crop 2 is estimated from the arrangement pattern.

Further, the estimation unit 186 refers to the partial data H13 (partial image H16) of the crop 2 specified by the surface condition model, and calculates the characteristic portion W25 of the crop 2 and the surface of the crop 2, as shown in FIGS. 14A to 14C. The posture of the crop 2 is estimated based on the state (line W11 forming the pattern). For example, as shown in FIGS. 14A, 14B, and 14C, the estimation unit 186 extracts the hem W25a and navel W25b of the crop 2 from the partial image H16 as the characteristic portion W25.

As shown in FIG. 14A, if, for example, a stem W25a is extracted as the characteristic portion W25, and each of the ends of the plurality of lines W11 is close to the stem W25a, As shown in , it is estimated that the crop 2 is in a posture (first posture) Z1 in which the belly button W25b is on the ground side of the cultivation place 105 and the belly button W25a is facing upward.
As shown in FIG. 14B, when the navel W25b is extracted as the characteristic portion W25, and each of the ends of the plurality of lines W11 is close to the navel W25b, the estimating unit 186 extracts the characteristic portion W25 as shown in FIG. 15B. It is estimated that the crop 2 is in a posture (first posture) Z1 in which the belly button W25b is directed toward the agricultural robot 1 and the belly button W25a is directed away from the agricultural robot 1. In other words, the crop 2 is in the second posture Z2 in which it is tilted toward the back with respect to the agricultural robot 1, based on the stem W25a.

As shown in FIG. 14C, the estimating unit 186 estimates that, for example, when the belly button W25a and the belly button W25b are extracted as the characteristic portion W25, and at least one line W11 extends toward the belly button W25a and the belly button W25b, As shown in FIG. 15C, it is estimated that the crop 2 is in a posture (second posture) Z2 along the agricultural robot 1. That is, the crop 2 is in the third posture Z3, lying right sideways with respect to the agricultural robot 1, based on the stem W25a.

Note that the crop estimating unit 141I (estimating unit 186) may estimate the posture based on the direction of the pattern on the surface of the crop 2. As shown in FIG. 16A, the crop estimating unit 141I (estimating unit 186) determines that in the partial image H16, the extending direction (continuously extending longitudinal direction) of the line W11 forming the surface pattern is the vertical direction (vertical direction). If so, it is estimated that the crop 2 is in the first posture Z1. As shown in FIG. 16B, the crop estimating unit 141I (estimating unit 186) determines that the crop 2 is in the third posture Z3 when the extending direction of the line W11 is the left-right direction (horizontal direction) in the partial image H16. presume.

Further, the crop estimating unit 141I (estimating unit 186) may estimate the posture based on the length of the pattern on the surface of the crop. As shown in FIG. 17A, the crop estimating unit 141I (estimating unit 186) determines that in the partial image H16, the length L51 of the line W11 is approximately the same (within a predetermined range) and the length of the standard crop 2 ( standard), it is estimated to be the first attitude Z1 or the second attitude Z2. Here, the crop estimating unit 141I (estimating unit 186) estimates that when the optical sensors 5A and 5B image the crop 2 from above, the crop 2 is in the first posture Z1, ), it is estimated that the second orientation is Z2.

As shown in FIG. 17B, the crop estimating unit 141I (estimating unit 186) determines that the maximum line length L52 among the plurality of lines W11 is the length (reference) of the standard crop 2 in the partial image H16. If it exceeds, it is estimated that it is the second attitude Z2 or the third attitude Z3. Here, the crop estimating unit 141I (estimating unit 186) estimates that the crop 2 is in the second posture Z2 when the optical sensors 5A and 5B image the crop 2 from above, ), it is estimated to be in the third orientation Z3.

The crop estimation unit 141I (estimation unit 186) may estimate the posture based on the positional relationship between the characteristic portion W25 of the crop 2 and the pattern.
As shown in FIG. 18A, the crop estimating unit 141I (estimating unit 186) calculates that in the partial image H16, the length L53 of the plurality of lines W11 is long on the near side and the length L53 of the plurality of lines W11 is the center of the stem W25a. If the back side of L53 is short, it is estimated that the first posture is Z1 and is slightly inclined toward the back side. As shown in FIG. 18B, the crop estimating unit 141I (estimating unit 186) calculates that in the partial image H16, the length L53 of the plurality of lines W11 is short on the near side, and the length L53 of the plurality of lines W11 is If the front side of L53 is short, it is estimated that it is in the first posture Z1 and is slightly inclined toward the front side.

Furthermore, the estimation unit 186 calculates the contour R10 of the specific crop 2 included in the partial data H13 (partial image H16) based on the estimation result of estimating the type of the specific crop 2. For example, based on the estimation result of the specific crop 2 (for example, the type of crop 2), the estimation unit 186 refers to the basic shape (circle, square, oval) of the outline R10 of the crop 2 and the reference size L10. Further, as shown in FIG. 19A, the estimation unit 186 extracts, for example, a straight line W11a from among the lines W11 forming the pattern of the specific crop 2 in the partial data H13 (partial image H16). Here, if both ends W11b of the line W11a can be obtained from the partial data H13 (partial image H16), the estimating unit 186 calculates a circular or elliptical line passing through both ends W11b of the line W11a for the specific crop. 2's contour R10.

As shown in FIG. 19B, when extracting one end W11b of the line W11a, the estimating unit 186 sets a position 1/2 of the reference size from the one end W11b as the center O10 of the specific crop 2, and The radius R1 of the specific crop 2 is set to 1/2 of the reference size from O10, and the circular line passing through one end W11a and having the radius R1 is defined as the outline R10 of the specific crop 2.
As shown in FIG. 19C, when the end W11a of the line W11 reaches the extraction image frame composed of the partial data H13 (partial image H16), the estimation unit 186 identifies the crop 2 from the pattern of the specific crop 2 in the extraction image frame. The center O10 of the crop 2 is estimated, and a circular line with a radius R1 is defined as the outline R10 of the specific crop 2.

Note that FIGS. 19A to 19C are examples, and the surface state model may estimate not only the type of crop but also the size of the crop from the pattern of the crop 2.
Furthermore, as shown in FIGS. 19A to 19C, the estimating unit 186 estimates an obstacle W20 that hides the surface of the crop 2 estimated with respect to the periphery of the crop 2 obtained using the partial data H13 (partial image H16). good. As shown in FIGS. 19A to 19C, for example, the estimating unit 186 extracts a portion W21 on the surface of the crop 2 other than the surface condition model that is determined to be the pattern on the surface of the crop 2, and in the portion W21, It is determined that the portion overlapping with the outline R10 is part of the obstacle W20, and the entire outline W22 of the obstacle W20 is extracted by image processing or the like.

As described above, when the estimation unit 186 extracts the entire contour W22 of the obstacle W20, that is, estimates the obstacle W20, the agricultural robot 1 moves the obstacle W20 into the crop 2 during harvesting of the crop 2, etc. Take steps to move it away from the area. As shown in FIG. 20, in controlling the manipulator (work unit) 4 (robot hand 18) during harvesting, the work control unit 41B brings the tip of the robot hand 18 close to an obstacle W20 and moves a part of the robot hand 18 toward the obstacle W20. The robot hand 18 is moved in a direction in which the obstacle W20 moves away from the surface of the crop 2, with the tip thereof in contact with the obstacle W20. That is, the robot hand 18 operates to move the obstacle W20 away when harvesting the crops 2.

In the embodiment described above, it has been explained that the agricultural robot 1 has a learned model (surface state model), but the agricultural robot 1 is equipped with a model generation unit 81I that generates a surface state model. Good too . The model generation unit 81I is an electric/electronic circuit provided in the control device 41, a program stored in the control device 41, and the like.

First, when the agricultural robot 1 harvests the crops 2, the control device 41 uses the optical sensor 5A.
Alternatively, sensing data (data on the surface of the crop 2) obtained by sensing the surface of the crop 2 with the optical sensor 5B is acquired. The control device 41 acquires data on the surface of the crops 2 every time the crops 2 are harvested, and stores the data in a database. The model generation unit 81I constructs a surface state model by performing deep learning on the surface data of a large number of crops 2 acquired by the control device 41. Note that even after constructing the surface state model, the model generation unit 81I acquires data on the surface of the crop 2 from the control device 41 every time the crop 2 is harvested, and continues reinforcement learning.

The agricultural robot 1 includes a traveling body 3, a working part provided on the traveling body 3 and performing work related to the crops 2, optical sensors 5A and 5B provided on the traveling body 3, and optical sensors 5A and 5B. A crop estimating unit 141I estimates the crop 2 based on the obtained sensing data, and the crop estimating unit 141I estimates the posture of the crop 2 based on the surface state of the crop 2 obtained from the sensing data. do. According to this, it is possible to easily grasp the posture of the crop 2 under cultivation. Here, the orientation of the manipulator (working unit) 4 with respect to the crop 2 can be changed depending on the attitude of the crop 2, and work efficiency can be improved.

The crop estimating unit 141I estimates the posture of the crop 2 indicated by the sensing data based on the characteristic parts of the crop 2 and the surface condition of the crop 2. According to this, the posture of the crop 2 can be estimated based on the relationship between the characteristic portion and the surface state of the crop 2. For example, when the stem W25a of the crop 2 and the navel W25b of the crop 2 are used as characteristic parts, the relationship between the direction of the stem W25a and the navel W25b and the surface shape of the crop 2 means that the crop 2 faces upward. It is possible to grasp the posture, such as whether the crop 2 is facing sideways, or whether the crop 2 is facing sideways.

The crop estimating unit 141I estimates the posture based on the direction of the pattern on the surface of the crop 2 indicated by the sensing data. According to this, the attitude of the crop 2 can be easily grasped by checking whether the pattern on the surface of the crop 2 is facing upward or downward.
The crop estimation unit 141I estimates the posture based on the length of the pattern on the surface of the crop 2 indicated by the sensing data. According to this, the posture of the crop 2 can be easily grasped based on the length of the predetermined surface pattern when the crop 2 is sensed, such as long or short.

The crop estimating unit 141I estimates the posture based on the positional relationship between the characteristic parts of the crop 2 and the pattern. According to this, for example, when the stem W25a of the crop 2 and the navel W25b of the crop 2 are used as characteristic parts, the posture of the crop 2 can be easily grasped by the positions of the stem W25a, the navel W25b, and the pattern. Can be done.
The crop estimating unit 141I estimates the outline of the crop 2 and the obstacle W20 that hides the estimated surface of the crop 2 with respect to the periphery of the crop 2 based on the sensing data. According to this, the outline of the obstacle W20 can be easily estimated, and it is possible to grasp how large the surface of the crop 2 is covered by the obstacle W20.

The work unit 4 performs work to move the obstacle W20 estimated by the crop estimation unit 141I away from the crops 2. According to this, when the agricultural robot 1 performs work on the crops 2, the obstacle W20 that obstructs the work can be kept away from the crops 2, and the work can be performed efficiently. For example, when the work is harvesting, the work unit 4 can harvest after removing the obstacle W20. Further, when the work is to strike the crops 2 or collect the sound of the strikes, the work such as striking the crops 2 can be performed after removing the obstacle W20.

It includes a model generation unit 81I that generates a surface condition model by performing deep learning on the relationship between the crops 2 and the surface conditions of the crops 2. According to this, a model for estimating the relationship between the crop 2 and the surface state of the crop 2 can be easily created.
Although one embodiment of the present invention has been described above, the embodiment disclosed this time should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is indicated by the claims rather than the above description, and it is intended that all changes within the meaning and range equivalent to the claims are included.

1: Agricultural robot 2: Crops 3: Traveling body 4: Working section 5A: Optical sensor 5B: Optical sensor 81I: Model generation section 141I: Crop estimation section 186: Estimation section H11: Sensing data R10: Contour W10: Surface Status W20: Obstacle W21: Part W22: Contour W25: Characteristic part

Claims (8)

A running body,
a working section that is provided on the traveling body and performs work related to crops;
an optical sensor provided on the traveling body;
a crop estimation unit that estimates the crop based on sensing data obtained by the optical sensor;
Equipped with
The crop estimating unit calculates the crop surface condition from any of the line spacing, line angle, line connection, line shape, and line arrangement pattern constituting the pattern of the crop, which is the surface condition of the crop obtained from the sensing data. An agricultural robot that estimates a crop and estimates the posture of the crop from lines appearing as the pattern of the estimated crop. The agricultural robot according to claim 1, wherein the crop estimating unit estimates the posture of the crop indicated by the sensing data based on characteristic parts of the crop and lines of a pattern of the crop. The agricultural robot according to claim 1 or 2, wherein the crop estimation unit estimates the posture based on the direction of lines of the crop pattern indicated by the sensing data. The agricultural robot according to any one of claims 1 to 3, wherein the crop estimation unit estimates the posture based on the length of a line of the crop pattern indicated by the sensing data. The agricultural robot according to any one of claims 1 to 4, wherein the crop estimation unit estimates the posture based on a positional relationship between a characteristic part of the crop and the pattern. The agricultural robot according to any one of claims 1 to 5, wherein the crop estimating unit estimates a contour of the crop and an obstacle that hides the estimated surface of the crop with respect to the periphery of the crop based on the sensing data. . The agricultural robot according to claim 6, wherein the work section performs a task of moving the obstacle estimated by the crop estimating section away from the crop. The agricultural robot according to any one of claims 1 to 7, further comprising a model generation unit that generates a surface condition model by performing deep learning on the relationship between the crop and the surface condition of the crop.

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