JP7471931B2 - Agricultural robots - Google Patents

Description

The present invention relates to an agricultural robot.

2. Description of the Related Art Conventionally, an agricultural robot is known, as disclosed in Japanese Patent Application Laid-Open No. 2003-233696.
The agricultural robot disclosed in Patent Document 1 is provided with a manipulator on a running body that is capable of harvesting crops.

JP 2011-229406 A

Now, crops such as watermelons, melons, and pumpkins are generally cultivated (planted) in various places. When using agricultural robots to operate, it is necessary to accurately grasp the crops, but the reality is that it is difficult to accurately grasp the crops due to various factors.
An object of the present invention is to provide an agricultural robot that can easily estimate crops from sensing data.

The agricultural robot comprises a running body, a working unit provided on the running body for performing work related to crops, an optical sensor provided on the running body, and a crop estimation unit for estimating the crop based on sensing data obtained by the optical sensor, the crop estimation unit having a data extraction unit that identifies the crop to be estimated based on the sensing data and extracts data from the sensing data that includes the identified crop and obstacles concealing the surface of the crop as partial data, and an estimation unit that estimates the crop from the surface condition of the crop obtained excluding the obstacles in the partial data extracted by the data extraction unit, and the estimation unit estimates the type of crop and estimates the obstacles concealing the surface of the estimated crop in relation to the surroundings of the crop obtained in the partial data .

The estimation unit extracts parts of the surface of the crop other than what has been determined to be the pattern on the surface of the crop, determines that parts of the surface that overlap with the contour of the crop are part of the obstacle, and extracts the contour of the obstacle through image processing.
The estimation unit estimates the crop indicated by the partial data based on the type of the crop and the surface condition of the crop obtained by excluding the obstacle.
The estimation unit estimates the crop based on the pattern of the crop as the surface condition of the crop obtained by removing the obstacle, and the type of the crop.
The estimation unit calculates an outline of the crop included in the partial data based on the estimated crop outline.

The working unit performs a task of moving the obstacle estimated by the estimation unit away from the crop.
The agricultural robot is equipped with a model generation unit that generates a surface condition model by deep learning the relationship between the crop and the surface condition of the crop.
The agricultural robot includes a traveling body, a working unit provided on the traveling body and performing work related to crops, an optical sensor provided on the traveling body, and a crop estimation unit that estimates the crop based on sensing data obtained by the optical sensor, the crop estimation unit having a data extraction unit that identifies the crop to be estimated based on the sensing data and extracts data from the sensing data that includes the identified crop and an obstacle concealing a surface of the crop as partial data, and an estimation unit that estimates the crop from a surface condition of the crop obtained by excluding the obstacle in the partial data extracted by the data extraction unit, the estimation unit calculates an outline of the crop included in the partial data based on an estimation result of the estimated crop, and the estimation unit calculates a contour of the crop included in the partial data based on an estimation result of the type of the crop. The contour of the crop is determined by using any of the following (i) to (iii): (i) if both ends of the lines that constitute the crop pattern and that each reach the outer edge of the crop can be obtained from the partial data, a circular or elliptical line passing through both ends is determined to be the contour of the crop; (ii) if only one of the ends is extracted, a position that is 1/2 the standard size of the crop from the one end is determined to be the center of the crop, and a circular line that passes through the one end and has a radius of 1/2 the standard size from the center is determined to be the contour of the crop; and (iii) if the line reaches the extracted image frame of the partial data, a calculation is performed to estimate the center of the crop from the crop pattern in the extracted image frame, set the radius of the crop to 1/2 the standard size of the crop, and determine the contour of the crop to be a circular line with the radius from the estimated center.
The estimation unit performs a calculation based on the estimation result of the type of crop to determine the contour of the crop included in the partial data using any of the following (i) to (iii): (i) if both ends of the lines constituting the crop pattern that each reach the outer edge of the crop can be obtained from the partial data, a circular or elliptical line passing through both ends is determined to be the contour of the crop; (ii) if only one of the ends is extracted, a position that is 1/2 of the standard size of the crop from the one end is determined to be the center of the crop, and a circular line that passes through the one end and has a radius of 1/2 of the standard size from the center is determined to be the contour of the crop; and (iii) if the line reaches an extracted image frame of the partial data, a center of the crop is estimated from the crop pattern in the extracted image frame, and a circular line that is 1/2 of the standard size of the crop is determined to be the contour of the crop .
When a pre-prepared reference profiling indicating the surface pattern of a crop matches an image profiling within a specified range of the sensing data, the data extraction unit determines that the crop is included within the specified range of the sensing data, identifies the crop as the estimated crop, and extracts data from the sensing data that includes the identified crop and any obstacles obscuring the surface of the crop as the partial data.

According to the present invention, crops can be easily estimated from sensing data.

FIG. 2 is a side view of the agricultural robot. FIG. 2 is a side view of the agricultural robot in a working posture. FIG. 2 is a perspective view of the fuselage and the manipulator. FIG. 2 is a side view of the aircraft body and the manipulator. FIG. FIG. FIG. 2 is an enlarged view of a portion of the robot hand. FIG. 1 is an overall view of an agricultural robot support system. Fig. 1 is a diagram showing a route that an agricultural robot traveled in a facility Fig. 2 is a diagram showing an example of sound data (waveform H10). FIG. 1 is a diagram showing a state in which an agricultural robot performs work on crops. FIG. 11 is a diagram showing the relationship between sensing data H11 and partial data H13. FIG. 13 is a diagram showing an example of partial data H13. FIG. 13 is a diagram showing the relationship between a surface state model and data. FIG. 13 is a diagram showing a state in which part of the outline of the crop is visible in a partial image H16. FIG. 14B is a diagram showing a state in which part of the outline of the crop is visible in a partial image H16, and is different from FIG. 14A. FIG. 13 is a diagram showing a state in which the outline of the crop is not visible in a partial image H16. FIG. 13 is an explanatory diagram illustrating an operation of moving an obstacle away from a crop. FIG. 1 is a schematic diagram of the interior of a greenhouse facility. FIG. 1 is a schematic diagram of a floor plan of a greenhouse facility. FIG. 2 is a perspective view of the inside of a greenhouse horticulture facility in the early stage of crop cultivation. FIG. 2 is a perspective view of the inside of a greenhouse horticulture facility in the middle or late stages of crop cultivation.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
1 and 2 show an example of an agricultural robot 1. The agricultural robot 1 is a robot that performs work (farming work) on crops 2 grown in facilities such as greenhouses and plant factories as shown in Figs. 16 to 19. The agricultural robot 1 performs work on heavy vegetables, fruits, etc., which are relatively heavy crops 2, such as watermelons, melons, pumpkins, etc.

First, we will explain facilities using greenhouse horticulture facilities (greenhouse horticulture facilities) as an example.
As shown in FIGS. 16 to 19, a facility 100 includes, as structures constituting the facility 100, a house 101 and equipment 102 installed inside the house 101.
The house 101 includes a frame 110 and a covering material 111. The frame 110 is made up of various steel materials, such as I-beam, H-beam, C-beam, square steel, and round steel, to form the framework of the facility 100, and includes a plurality of support members 110A and a plurality of connecting members 110B. As shown in Figures 16 to 18, the plurality of support members 110A are members that stand upright from the ground or the like, and are installed at predetermined intervals in the horizontal direction X1 and at predetermined intervals in the vertical direction Y1.

The connecting members 110B connect the upper ends of the plurality of support members 110A spaced apart in the horizontal direction X1 to one another, and also connect the plurality of support members 110A spaced apart in the vertical direction Y1 to one another.
The covering material 111 is a translucent material that can at least take in sunlight, and is made of synthetic resin, glass, etc. The covering material 111 covers, for example, the entire frame 110 from the outside of the frame 110. In other words, the covering material 111 is disposed outside the support members 110A and outside the connecting members 110B.

The equipment 102 is various equipment used when cultivating the crop 2, and is equipment capable of adjusting the temperature, humidity, air flow, etc., inside the greenhouse 101. More specifically, the equipment 102 is a ventilation fan 102A, a circulation fan 102B, a heat exchanger 102C, etc. As shown in Figures 16 and 17, the ventilation fan 102A is installed on the entrance/exit 130 side of the greenhouse 101, and exhausts the air inside the greenhouse 101 to the outside and takes in the outside air into the greenhouse 101.

The circulation fan 102B is installed in the house 101 and circulates the air in the house 101 in a predetermined direction. The heat exchange device 102C is a device capable of changing the temperature of the house 101, and is configured as, for example, a heat pump. The above-mentioned device 102 is an example, and may be, 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, such as harvesting the crops 2, spraying fertilizer, and spraying pesticides, on the crops 2 cultivated in a cultivation area 105 within the facility 100. The agricultural robot 1 is an autonomous robot.
1 to 8 show an agricultural robot 1. Fig. 8 shows a support system for the agricultural robot.

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 Figures 1 and 2 will be described as the forward direction, the direction indicated by arrow A2 as the rearward direction, and the direction indicated by arrow A3 as the front-to-rear direction. Therefore, the direction indicated by arrow B1 in Figure 2 (the front side of Figure 1) is the left, and the direction indicated by arrow B2 in Figure 2 (the back side of Figure 1) is the right. In addition, the horizontal direction perpendicular to the front-to-rear direction A3 will be described as the body width direction (the direction of arrow B3 in Figure 2).

1, the agricultural robot 1 has an autonomously traveling vehicle 3. The vehicle 3 has a machine body 6 and a traveling device 7 that supports the machine body 6 so that it can travel.
As shown in Figures 3 and 4, the machine body 6 has a main frame 6A and a prime mover frame 6B. The main frame 6A has a pair of first frames 6Aa spaced apart in the machine body width direction B3, and a pair of second frames 6Ab spaced apart below each of the first frames 6Aa. The first frames 6Aa and the second frames 6Ab are connected by a plurality of vertical frames 6Ac. The vertical frames 6Ac are provided between the front parts of the left first frame 6Aa and the left second frame 6Ab, between the front parts of the right first frame 6Aa and the right second frame 6Ab, between the rear parts of the left first frame 6Aa and the left second frame 6Ab, and between the rear parts of the right first frame 6Aa and the right second frame 6Ab.

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

The prime mover frame 6B is disposed below the main frame 6A. The prime mover frame 6B has a front frame 6Ba, a rear frame 6Bb, multiple connecting frames 6Bc, and multiple mounting 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 multiple connecting frames 6Bc connect the lower parts of the front frame 6Ba and the rear frame 6Bb. The multiple mounting frames 6Bd are fixed to the center of the connecting frame 6Bc in the fore-and-aft 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. The hydraulic pump P1 is driven by the prime mover E1. In addition, 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 (machine body 6).

As shown in Figures 1, 2 and 5, the traveling device 7 is configured as a wheel type (four-wheel type) traveling device 7 having four wheels 8. In detail, the traveling device 7 is equipped with a first wheel 8La (left front wheel) arranged on the left side of the front of the body 6, a second wheel 8Ra (right front wheel) arranged on the right side of the front of the body 6, a third wheel 8Lb (left rear wheel) arranged on the left side of the rear of the body 6, and a fourth wheel 8Rb (right rear wheel) arranged on the right side of the rear of the body 6. The traveling device 7 may be configured as a wheel type traveling device having at least three wheels 8. The traveling device 7 may also be a crawler type traveling device.

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

As shown in FIGS. 5 and 6, the wheel support 9 has a traveling frame 10, a steering cylinder C1, a first lifting cylinder C2, a second lifting cylinder C3, and a traveling motor M1.
The traveling frame 10 has a main support 10A, a swing frame 10B, and a wheel frame 10C. The main support 10A is supported on the machine body 6 so as to be rotatable around a vertical axis (an axis extending in the up-down direction). More specifically, the main support 10A is supported on a support bracket 11 fixed to the machine body 6 so as to be rotatable via a first support shaft 12A having an axis extending in the up-down direction.

As shown in FIG. 5, the support bracket 11 that pivots the first wheel support 9La is provided on the front left side of the aircraft body 6, the support bracket 11 that pivots the second wheel support 9Ra is provided on the front right side of the aircraft body 6, the support bracket 11 that pivots the third wheel support 9Lb is provided on the rear left side of the aircraft body 6, and the support bracket 11 that pivots the fourth wheel support 9Rb is provided on the rear right side of the aircraft body 6.

The oscillating frame 10B is supported by the main support 10A so as to be able to oscillate up and down. More specifically, the upper part of the oscillating frame 10B is supported by the main support 10A via a second support shaft 12B so as to be able to rotate about a horizontal axis (an axis extending in the machine body width direction B3).
The swaying frames 10B of the first wheel support 9La and the second wheel support 9Ra are pivotally supported at their front upper portions to the main support 10A, and the swaying frames 10B of the third wheel support 9Lb and the fourth wheel support 9Rb are pivotally supported at their rear upper portions to the main support 10A.

The wheel frame 10C is supported by the swing frame 10B so as to be vertically swingable. More specifically, the wheel frame 10C is supported by the swing frame 10B so as to be rotatable about a horizontal axis via a third support shaft 12C.
The wheel frames 10C of the first wheel support 9La and the second wheel support 9Ra are pivotally supported at their rear portions to the rear portion of the oscillating frame 10B, and the wheel frames 10C of the third wheel support 9Lb and the fourth wheel support 9Rb are pivotally supported at their front portions to the front portion of the oscillating frame 10B.

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

One end of the first lifting cylinder C2 is pivotally supported to the oscillating frame 10B, and the other end is pivotally supported to the first link mechanism 15A. The first link mechanism 15A has a first link 15a and a second link 15b. One end of the first link 15a is pivotally supported to the main support 10A, and one end of the second link 15b is pivotally supported to the oscillating frame 10B. The other ends of the first link 15a and the second link 15b are pivotally supported to the other end of the first lifting cylinder C2. By extending and retracting the first lifting cylinder C2, the oscillating frame 10B swings up and down around the second support shaft 12B.

One end of the second lifting cylinder C3 is pivotally supported to the front of the oscillating frame 10B, and the other end is pivotally supported 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 to the oscillating frame 10B, and one end of the second link 15d is pivotally supported to the wheel frame 10C. The other ends of the first link 15c and the second link 15d are pivotally supported to the other end of the second lifting cylinder C3. By extending and retracting the second lifting cylinder C3, the wheel frame 10C swings up and down around the third support shaft 12C.

By combining the up and down swinging of the oscillating frame 10B by the first lifting cylinder C2 and the up and down swinging of the wheel frame 10C by the second lifting cylinder C3, the wheels 8 can be raised and lowered in a parallel manner.
The travel motor M1 is formed by a hydraulic motor. The travel motor M1 is provided corresponding to each wheel 8. That is, the travel device 7 has a travel motor M1 that drives the first wheel 8La, a travel motor M1 that drives the second wheel 8Ra, a travel motor M1 that drives the third wheel 8Lb, and a travel motor M1 that drives the fourth wheel 8Rb. The travel motor M1 is disposed inside the wheels 8 in the vehicle 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 can rotate forward and backward. By rotating the travel motor M1 forward and backward, the rotation of the wheels 8 can be switched between a forward direction and a reverse direction.

The second wheel support 9Ra, the third wheel support 9Lb, and the fourth wheel support 9Rb have components similar to those constituting the first wheel support 9La. The second wheel support 9Ra is configured symmetrically to the first wheel support 9La. The third wheel support 9Lb has a shape in which the second wheel support 9Ra is rotated 180° around a vertical central axis that passes through the center of the aircraft body 6. The fourth wheel support 9Rb has a shape in which the first wheel support 9La is rotated 180° around a central axis.

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

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

The agricultural robot 1 includes a manipulator (working unit) 4 attached to a traveling body 3. The manipulator (working unit) 4 is a part that performs work, and in this embodiment, for example, is a device that is capable of at least harvesting the crops 2.
As shown in Figures 3 and 4, the manipulator 4 comprises a mounting body 16 that is detachably attached to the running body 3 (machine body 6), an arm 17 attached to the mounting body 16, and a robot hand 18 provided on the arm 17 and capable of grasping a crop (target object) 2.

As shown in FIG. 1, in this embodiment, the attachment 16 is provided at the rear of the running body 3. The attachment 16 may also be provided at the front of the running body 3. In other words, it is sufficient that the attachment 16 is provided offset to one side from the center of the running body 3 in the front-to-rear direction A3. In this embodiment, the agricultural robot 1 performs harvesting work by moving the running body 3 forward, so the attachment 16 is provided offset to the reverse direction of travel, which is the direction opposite to the direction of travel. The attachment 16 is formed in a box shape and is detachable from the running body 3.

A rotating frame 21 is provided upright on the mounting body 16. The rotating frame 21 can be rotated around a rotation axis J1 by a rotation motor M2 provided inside the mounting body 16. By rotating the rotating frame 21, the robot hand 18 can be moved (changed in position) in a circumferential direction around the rotation axis J1.
3 and 4, the arm 17 is supported by the rotating frame 21 so as to be able to swing up and down, and is also able to bend and stretch at a midpoint in the longitudinal direction.

The main arm 29 is pivotally supported on the rotating frame 21 so as to be swingable up and down, and is bendable and stretchable. In detail, the main arm 29 has a first arm portion 31 pivotally supported on the rotating frame 21 so as to be swingable up and down, and a second arm portion 32 pivotally supported on the first arm portion 31 so as to be swingable, and is bendable and stretchable as a result of the second arm portion 32 swinging relative to the first arm portion 31.
The base side 31a of the first arm portion 31 is pivotally supported by the arm bracket 26. As shown in Fig. 3, the first arm portion 31 has a first arm frame 31L and a second arm frame 31R. The first arm frame 31L and the second arm frame 31R are arranged side by side in the machine 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 sides 31a of the first arm frame 31L and the second arm frame 31R, and the base sides 31a of the first arm frame 31L and the second arm frame 31R are supported by the arm bracket 26 to be rotatable around the axis of the first arm pivot 33A (referred to as the first arm pivot) having an axis extending in the machine body width direction B3.

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 shorter than the length of the traveling body 3 (machine body 6) in the front-rear direction A3.
As shown in Fig. 4, the first arm section 31 has a cylinder attachment section 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 between the cylinder attachment section 31b and the cylinder attachment section 27a of the cylinder bracket 27. The first arm cylinder C4 is driven by hydraulic oil discharged from a hydraulic pump P1 provided on the traveling body 3 to expand and contract. The first arm section 31 swings up and down by expanding and contracting the first arm cylinder C4. The robot hand 18 can be raised and lowered by swinging the first arm section 31 (arm 17) up and down. The first arm cylinder C4 is provided with a first stroke sensor that detects the stroke of the first arm cylinder C4.

As shown in FIG. 4, a pivot member 31B is fixed to the tip side 31c of the first arm portion 31. More specifically, the pivot member 31B is fixed to the first arm frame 31L and the second arm frame 31R with the base 31Ba inserted between them. A cylinder stay 34 is attached to the underside of the base 31Ba of the pivot member 31B. The tip side 31Bb of the pivot member 31B protrudes forward from the first arm frame 31L and the second arm frame 31R.

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

A cylinder attachment portion 32c is provided on the base side 32a of the second arm portion 32, 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 attachment portion 32c and the cylinder stay 34. The second arm cylinder C5 is driven by hydraulic oil discharged from a hydraulic pump P1 provided on the traveling body 3 to expand and contract. By expanding and contracting the second arm cylinder C5, the second arm portion 32 swings relative to the first arm portion 31, and the main arm 29 (arm 17) is bent and stretched (bended and stretched). In this embodiment, the main arm 29 is straight when fully extended, but may be slightly bent when fully extended.

In addition, by extending and contracting the second arm cylinder C5, the robot hand 18 can be moved toward or away from the running body 3. In particular, by extending the second arm cylinder C5, the robot hand 18 can be moved away from the running body 3, and by contracting the second arm cylinder C5, the robot hand 18 can be moved toward the running body 3.

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 capable of projecting and retracting. Therefore, the length of the arm 17 can be extended or contracted by projecting and retracting the sub-arm 30. The sub-arm 30 is formed in a straight line by a square pipe. The sub-arm 30 is supported between the tip side (front part) of the third arm frame 32L and the fourth arm frame 32R so as to be capable of moving in the longitudinal direction. The sub-arm 30 is also disposed between the opposing connecting plates 35 and can be fixed to the connecting plates 35 by a fastener such as a bolt. A protrusion 30a that abuts against the third arm frame 32L is provided on one side of the sub-arm 30, and a protrusion 30a that abuts against the fourth arm frame 32R is provided on the other side. The protrusion 30a can suppress rattling of the sub-arm 30.

The sub-arm 30 is retracted between the third arm frame 32L and the fourth arm frame 32R at the most retracted position (rearmost retracted position). The sub-arm 30 may slightly protrude from the second arm portion 32 at the rearmost retracted position.
As shown in Fig. 4, a hanging plate 37 is fixed to the tip side of the sub-arm 30. The robot hand 18 is pivotally supported and suspended from the hanging plate 37 (see Fig. 1). In other words, the robot hand 18 is attached to the tip side of the sub-arm 30 so as to be able to swing. 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 Figures 1 and 2, the robot hand 18 has a base member 18A and multiple 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 on the hanging plate 37. In other words, the robot hand 18 is suspended from the arm 17. The multiple gripping claws 18B are attached to the lower surface side of the base member 18A so as to be able to swing. By swinging the multiple gripping claws 18B, the robot hand 18 is able to grip the crop 2 between the gripping claws 18B and the gripping claws 18B (see Figure 2) and is also able to release the gripped crop 2.

1 and 2, the agricultural robot 1 is equipped with 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. In this embodiment, the optical sensors 5A and 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) is a sensor that can construct a 3D map around the traveling object 3 by irradiating pulsed infrared rays or the like millions of times per second and measuring the time it takes for the rays to bounce back. In this embodiment, the optical sensors 5A and 5B are imaging devices (CCD camera, CMOS camera, infrared camera).

The optical sensor 5A is attached to the rotating frame 21. More specifically, it is attached to the upper part of the arm bracket 26 via a support 40. Without being limited to this, the optical sensor 5A may be attached to the running body 3 or the like. The optical sensor 5A may also be provided in multiple locations. In other words, the agricultural robot 1 may have multiple optical sensors 5A. The optical sensor 5A is capable of photographing the surroundings of the running body 3, and acquires information about the surroundings of the running body 3 by photographing them.

The optical sensor 5B is attached to the tip side of the second arm portion 32. The optical sensor 5B captures an image of the crop 2, thereby obtaining quality information such as the size, shape, color, pattern (striped pattern in the case of a watermelon), and scratches of the crop 2.
1 and 2, the agricultural robot 1 is equipped with a hitting sound sensor 50C. The hitting sound sensor 50C is a sensor that acquires a hitting sound when a hit is given to the crop 2 (the crop 2 is hit). As shown in Fig. 7, the hitting sound sensor 50C is provided on the robot hand 18 (base member 18A).

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

As shown in Fig. 8, the agricultural robot 1 has a control device 41. The control device 41 includes, for example, a CPU (Central Processing Unit), an EEPROM (Electrically Erasable Programmable Read Only Memory),
Examples of such devices include microcomputers equipped with a programmable read-only memory (PRAM).
The optical sensors 5A and 5B, the hammering sound sensor 50C, the travel motor M1, and the rotation motor M2 are connected to the control device 41. In addition, a plurality of control valves 42 are connected to the control device 41. The control valves 42 include 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, 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, solenoid 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 solenoid valves (three-position switching solenoid valves) that are switched to a plurality of positions by a control signal.

When the control device 41 outputs a control signal to the first control valve 42A, the first control valve 42A switches to a predetermined position in response to the control signal. When the control device 41 outputs a control signal to the second control valve 42B, the second control valve 42B switches to a predetermined position in response to the control signal.
When the control device 41 outputs a control signal to the third control valve 42C, the third control valve 42C switches to a predetermined position in response to the control signal. When the control device 41 outputs a control signal to the fourth control valve 42D, the fourth control valve 42D switches to a predetermined position in response to the control signal. When the control device 41 outputs a control signal to the fifth control valve 42E, the fifth control valve 42E switches to a predetermined position in response 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 a hydraulic pump P1 that discharges hydraulic oil is connected to the oil passage 46.
According to the above, the first control valve 42A switches the supply of hydraulic oil to the bottom side or the rod side of the steering cylinder C1, causing the steering cylinder C1 to expand and contract. The second control valve 42B switches the supply of hydraulic oil to the bottom side or the rod side of the first lift cylinder C2, causing the first lift cylinder C2 to expand and contract. The third control valve 42C switches the supply of hydraulic oil to the bottom side or the rod side of the second lift cylinder C3, causing the second lift cylinder C3 to expand and contract.

Furthermore, the fourth control valve 42D switches the supply of hydraulic oil to either the bottom side or the rod side of the first arm cylinder C4, causing the first arm cylinder C4 to expand and contract. The fifth control valve 42E switches the supply of hydraulic oil to either the bottom side or the rod side of the second arm cylinder C5, causing the second arm cylinder C5 to expand and contract.
The agricultural robot 1 has a travel control unit 41A. The travel control unit 41A is an electric/electronic circuit provided in the control device 41, a program stored in the control device 41, and the like.

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

The travel control unit 41A may also control the elevation and inclination of the machine body 6. For example, the travel control unit 41A outputs a control signal to the second control valve 42B to extend and retract the first lifting cylinder C2, thereby elevating and lowering the machine body 6 and changing its inclination. The travel control unit 41A also outputs a control signal to the third control valve 42C to extend and retract the second lifting cylinder C3, thereby elevating and lowering the machine body 6 and changing its inclination.

As described above, the agricultural robot 1 can travel independently within the facility 100 or the like by the control of the travel control unit 41A.
The agricultural robot 1 has a work control unit 41B. The work control unit 41B is an electric/electronic circuit provided in the control device 41, a program stored in the control device 41, and the like.
The work control unit 41B controls the manipulator (working 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 unit 41B outputs a control signal to the fourth control valve 42D to extend and retract the first arm cylinder C4, thereby swinging the first arm unit 31. The work control unit 41B outputs a control signal to the fifth control valve 42E to extend and retract the second arm cylinder C5, thereby swinging the second arm unit 32. The work control unit 41B also outputs a control signal to the rotation motor M2 to change the rotation direction of the rotation motor M2, thereby rotating the manipulator (working unit) 4.

As described above, the work control unit 41B can move the robot hand 18 to any (desired) position. In detail, the robot hand 18 can be moved to a desired position by moving the robot hand 18 in a circumferential direction around the rotation axis J1 by rotating the rotating frame 21, raising and lowering the robot hand 18 by swinging the first arm unit 31 up and down, and moving the robot hand 18 toward or away from the running body 3 by swinging the second arm unit 32.

The work control unit 41B controls the actuator 51B (the hitting member 51A). For example, the work control unit 41B outputs a control signal to the actuator 51B to operate the actuator 51B and perform control (impact control) to hit the crop 2 with the hitting member 51A.
8, the agricultural robot 1 includes a crop estimation unit 41I. The crop estimation unit 41I 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 41I estimates the crop 2 based on the sensing data obtained by the optical sensor 5A or the optical sensor 5B. If the optical sensor 5A or the optical sensor 5B is an imaging device, the sensing data is the captured image (image data). If the optical sensor 5A or the optical sensor 5B is a laser sensor (lidar), the sensing data is scan data that includes the distance and direction from the optical sensor 5A or the optical sensor 5B to the sensed target object (object).

9 , when the agricultural robot 1 performs work such as harvesting, the agricultural robot 1 travels along a passage 106 between cultivation areas 105 in a facility 100. For example, during work, the agricultural robot 1 travels along the cultivation areas 105 (passage 106) from a work start point P11 to a work end point P12.
As shown in FIG. 11, when the agricultural robot 1 is traveling, the crop estimation unit 41I estimates 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.

The crop estimation unit 41I will be described in detail below.
8, the crop estimation unit 41I has a data extraction unit 85 and an estimation unit 86. The data extraction unit 85 identifies a crop 2 to be estimated based on sensing data (captured image, scan data) H11, and extracts data around the identified crop 2 from the sensing data (captured image, scan data) H11 as partial data H13.

Specifically, first, as shown in FIG. 10, when the agricultural robot 1 is caused to travel independently in the direction of travel to perform work on the crop 2 being cultivated in the cultivation site 105, the data extraction unit 85 refers to the sensing data H11 and identifies the crop 2 to be estimated. As shown in FIG. 11, the data extraction unit 85 determines whether the referenced sensing data H11 includes a part of the crop 2. If the sensing data H11 is a captured image, the crop 2 to be estimated is identified within the captured image by matching the feature amounts of the captured image, pattern matching, etc.

For example, the data extraction unit 85 compares the feature amounts within a specified range of the captured image with the feature amounts in a pre-prepared image of a crop, and if the two feature amounts match, it determines that a crop 2 is present within the specified range of the captured image, and if the two feature amounts do not match, it does not determine that a crop 2 is present within the specified range of the captured image.
Alternatively, the data extraction unit 85 compares a previously prepared reference profiling indicating the surface pattern, unevenness, etc. of the crop 2 with image profiling within a specified range of the captured image, and if the reference profiling and the image profiling match, it determines that the crop 2, etc. is included within the specified range of the captured image, and if the reference profiling and the image profiling do not match, it determines that the crop 2 is not included within the specified range of the captured image.

When the sensing data H11 is scan data, the data extraction unit 85 determines whether the depicted object depicted in the scan data is crop 2. In this case, the data extraction unit 85 compares data profiling within a specified range of the depicted object with reference profiling, and if the reference profiling and the data profiling match, it determines that crop 2 is included in the scan data, and if the reference profiling and the data profiling do not match, it determines that crop 2 is not included in the scan data.

In other words, the data extraction unit 85 determines whether or not a crop 2 is present in the sensing data H11 by matching the features of the captured image, pattern matching, pattern matching of the depicted object, etc., and if it determines that a crop 2 is present, identifies the crop 2 that is determined to be present.
11 and 12, the data extraction unit 85 extracts the periphery of the specified crop 2 (specific crop 2a) from the sensing data H11 as partial data H13. In other words, a portion (partial image) H16 corresponding to the periphery of the specified crop 2 (specific crop 2a) is extracted from the sensed object (captured image, depicted object obtained from the sensing data H11).

Next, the estimation unit 86 estimates the type of the specific crop 2 a from the surface condition of the specific crop 2 a obtained from the partial data H 13 (partial image H 16 ) extracted by the data extraction unit 85 .
13, the estimation unit 86 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 crop 2 and the surface condition of the crop 2. The surface condition model is constructed by inputting crop surface information, in which the surface conditions of many crops 2 are associated with the type of crop 2, into a computer and executing deep learning using artificial intelligence (AI) in the computer.

The surface condition model estimates the type of crop 2 from the pattern of the specific crop 2a obtained from the partial data H13 (partial image H16) as the surface condition of the specific crop 2a. For example, as shown in Figures 14A to 14C, the surface condition model estimates the type of specific crop 2 from the spacing of the lines W11 that make up the pattern (design) on the surface of the specific crop 2a, the angle of the lines W11, the connections between the lines W11, the shape of the lines W11, and the arrangement pattern of the lines W11.

The estimation unit 86 also calculates the contour R10 of the specific crop 2 included in the partial data H13 (partial image H16) based on the estimation result of the type of the specific crop 2. For example, the estimation unit 86 refers to the basic shape (circle, square, ellipse) and reference size L10 of the contour R10 of the crop 2 from the estimation result of the specific crop 2 (e.g., the type of crop 2). Also, as shown in FIG. 14A , the estimation unit 86 extracts, for example, a straight line W11a from the lines W11 constituting the pattern of the specific crop 2 in the partial data H13 (partial image H16). Here, when the estimation unit 86 can obtain both ends W11b of the line W11a from the partial data H13 (partial image H16), the estimation unit 86 determines the circular or elliptical line passing through both ends W11b of the line W11a as the contour R10 of the specific crop 2.

As shown in FIG. 14B , when the estimation unit 86 extracts one end W11b of the line W11a, it determines the position 1/2 of the reference size from the one end W11b to be the center O10 of the specific crop 2, and determines the radius R1 of the specific crop 2 to be 1/2 of the reference size from the center O10, and determines the circular line that passes through the one end W11a and has a radius R1 to be the contour R10 of the specific crop 2.
As shown in FIG. 14C , when the end W11b of the line W11 reaches the extracted image frame formed by the partial data H13 (partial image H16), the estimation unit 86 estimates the center O10 of the specific crop 2 from the pattern of the specific crop 2 in the extracted image frame, and regards the circular line of radius R1 as the contour R10 of the specific crop 2.

14A to 14C are merely examples, and the surface condition model may estimate not only the type of crop but also the size of the crop from the pattern of the crop 2, etc.
14A to 14C, the estimation unit 86 may estimate an obstacle W20 that hides the surface of the crop 2 estimated with respect to the periphery of the crop 2 obtained from the partial data H13 (partial image H16). As shown in Fig. 14A to 14C, for example, the estimation unit 86 extracts a portion W21 on the surface of the crop 2 other than the portion determined by the surface condition model to be the pattern on the surface of the crop 2, determines that a portion of the portion W21 that overlaps with the contour R10 of the specific crop 2 is part of the obstacle W20, and extracts an entire contour W22 of the obstacle W20 by image processing or the like.

As described above, when the estimation unit 86 extracts the entire contour W22 of the obstacle W20, i.e., estimates the obstacle W20, the agricultural robot 1 performs an operation to move the obstacle W20 away from the crop 2 when harvesting the crop 2, etc. As shown in FIG. 15, in controlling the manipulator (working unit) 4 (robot hand 18) during harvesting, the operation control unit 41B brings the tip of the robot hand 18 close to the obstacle W20, abuts a part of the robot hand 18 against the obstacle W20, and, with the tip abutted, moves the robot hand 18 in a direction in which the obstacle W20 moves away from the surface of the crop 2. In other words, the robot hand 18 operates to move the obstacle W20 away when harvesting the crop 2.

In the above embodiment, the agricultural robot 1 has been described as having a trained model (surface condition model), but the agricultural robot 1 may also be provided with a model generation unit 41J that generates a surface condition model, as shown in Fig . 8. The model generation unit 41J is an electric/electronic circuit provided in the control device 41, a program stored in the control device 41, etc.

First, when the agricultural robot 1 harvests the crop 2, the control device 41 acquires sensing data (surface data of the crop 2) obtained by sensing the surface of the crop 2 with the optical sensor 5A or the optical sensor 5B. The control device 41 acquires surface data of the crop 2 each time the crop 2 is harvested, and stores the data in a database. The model generation unit 41J constructs a surface condition model by deep learning the numerous surface data of the crop 2 acquired by the control device 41. Note that even after the construction of the surface condition model, the model generation unit 41J continues reinforcement learning by acquiring surface data of the crop 2 from the control device 41 each time the crop 2 is harvested.

The agricultural robot 1 includes a traveling body 3, a working unit 4 provided on the traveling body 3 and performing work on the crop 2, optical sensors 5A and 5B provided on the traveling body 3, and a crop estimation unit 41I that estimates the crop 2 based on sensing data obtained by the optical sensors 5A and 5B, and the crop estimation unit 41I includes a data extraction unit 85 that identifies the crop 2 to be estimated based on the sensing data and extracts data corresponding to the identified crop 2 from the sensing data as partial data H13, and an estimation unit 86 that estimates the crop 2 from the surface condition of the crop 2 obtained from the partial data H13 extracted by the data extraction unit 85. According to this, after identifying the crop 2 from the sensing data, data corresponding to the identified crop 2 is extracted as partial data H13, and the crop 2 is further estimated from the surface condition of the extracted partial data H13, so that the crop 2 can be estimated more efficiently and accurately. That is, the crop can be easily estimated from the sensing data.

The estimation unit 86 estimates the crop 2 indicated by the partial data H13 based on the type of crop 2 and the surface condition of the crop 2. Since the surface condition differs depending on the type of crop 2, by estimating the crop 2 based on the type and surface condition of the crop 2, it is possible to more accurately estimate the type of crop 2. In particular, even if the surface of the crop 2 is obscured by an obstacle W20 and only part of the surface condition of the crop 2 is known, it is possible to easily estimate what the crop 2 is based on the relationship between the type of crop 2 and the surface condition.

The estimation unit 86 estimates the crop 2 based on the pattern of the crop 2 as the surface state of the crop 2 and the type of the crop 2. In this way, the crop 2 can be easily estimated by utilizing the fact that the pattern differs depending on the type of the crop 2.
The estimation unit 86 calculates a contour W22 of the crop 2 included in the partial data H13 based on the estimated result of the crop 2. According to this, for example, when the estimated result of the crop 2 is the type of the crop 2, the contour W22 of the crop 2 can be easily obtained from the size corresponding to the type of the crop 2 and the partial data H13.

The estimation unit 86 estimates the type of the crop 2, and estimates an obstacle W20 that conceals the surface of the crop 2 estimated with respect to the periphery of the crop 2 obtained from the partial data H13. This makes it possible to easily estimate the contour of the obstacle W20, and to grasp the size of the obstacle W20 that is covering the surface of the crop 2.
The working unit 4 performs an operation to move the obstacle W20 estimated by the estimation unit 86 away from the crop 2. As a result, when the agricultural robot 1 performs an operation on the crop 2, the obstacle W20 that gets in the way of the operation can be moved away from the crop 2, and the operation can be performed efficiently. For example, when the operation is harvesting, the obstacle W20 can be removed before harvesting is performed by the working unit 4. Also, when the operation is striking the crop 2 and collecting the sound of the striking, the obstacle W20 can be removed before striking the crop 2, or the like.

The agricultural robot 1 includes a model generation unit 41J that generates a surface condition model by deep learning of the relationship between the crop 2 and the surface condition of the crop 2. This makes it possible to easily create a model that estimates the relationship between the crop 2 and the surface condition of the crop 2.
Although one embodiment of the present invention has been described above, the embodiment disclosed herein should be considered as illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims, not the above description, and is intended to include all modifications within the meaning and scope of the claims.

1: Agricultural robot 2: Crop 3: Traveling body 4: Working unit 5A: Optical sensor 5B: Optical sensor 41I: Crop estimation unit 41J: Model generation unit 85: Data extraction unit 86: Estimation unit H11: Sensing data H13: Part data R10: Contour W20: Obstacle W21: Part W22: Contour

Claims (10)

A running body,
A working unit provided on the traveling body and performing work on 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 estimation unit includes a data extraction unit that identifies the crop to be estimated based on the sensing data and extracts data from the sensing data that includes the identified crop and an obstacle hiding a surface of the crop as partial data, and an estimation unit that estimates the crop from a surface state of the crop obtained by excluding the obstacle in the partial data extracted by the data extraction unit ,
The agricultural robot , wherein the estimation unit estimates the type of the crop and estimates the obstacles that hide the estimated surface of the crop in relation to the surroundings of the crop obtained from the partial data. 2. The agricultural robot according to claim 1, wherein the estimation unit extracts a portion of the surface of the crop other than the portion determined to be the pattern of the surface of the crop, determines that a portion of the extracted portion that overlaps with an outline of the crop is part of the obstacle, and extracts the outline of the obstacle by image processing. 3. The agricultural robot according to claim 1, wherein the estimation unit estimates the type of the crop indicated by the partial data based on the type of the crop and a surface condition of the crop obtained by removing the obstacle. The agricultural robot according to claim 3 , wherein the estimation unit estimates the crop based on a pattern of the crop as a surface state of the crop obtained by removing the obstacle, and a type of the crop. 5. The agricultural robot according to claim 3 , wherein the estimation unit calculates an outline of the crop included in the partial data based on the estimated crop. 6. The agricultural robot according to claim 1, wherein the working unit performs a task of moving the obstacle estimated by the estimation unit away from the crop. The agricultural robot according to any one of claims 2 to 6, further comprising a model generation unit that generates a surface condition model by deep learning of the relationship between the crop and the surface condition of the crop. A running body,
A working unit provided on the traveling body and performing work on 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 estimation unit includes a data extraction unit that identifies the crop to be estimated based on the sensing data and extracts data from the sensing data that includes the identified crop and an obstacle hiding a surface of the crop as partial data, and an estimation unit that estimates the crop from a surface state of the crop obtained by excluding the obstacle in the partial data extracted by the data extraction unit,
The estimation unit calculates an outline of the crop included in the partial data based on the estimated crop outline,
The estimation unit estimates the outline of the crop included in the partial data based on an estimation result of the type of the crop, by using any one of the following (i) to (iii):
(i) when both ends of a line that constitutes the pattern of the crop and that reaches the outer edge of the crop can be obtained from the partial data, a circular or elliptical line that passes through both ends is determined to be the outline of the crop;
(ii) when only one of the two ends is extracted, a position that is 1/2 the reference size of the crop from the one end is set as the center of the crop, and a circular line that passes through the one end and has a radius of the crop that is 1/2 the reference size from the center is set as the contour of the crop;
(iii) if the line reaches the extracted image frame of the partial data, the center of the crop is estimated from the pattern of the crop in the extracted image frame, half of the reference size of the crop is set as the radius of the crop, and a circular line of the estimated center and radius is set as the outline of the crop.
An agricultural robot that performs calculations. The estimation unit estimates the outline of the crop included in the partial data based on an estimation result of the type of the crop, by using any one of the following (i) to (iii):
(i) when both ends of a line that constitutes the pattern of the crop and that reaches the outer edge of the crop can be obtained from the partial data, a circular or elliptical line that passes through both ends is determined to be the outline of the crop;
(ii) when only one of the two ends is extracted, a position that is 1/2 the reference size of the crop from the one end is set as the center of the crop, and a circular line that passes through the one end and has a radius of the crop that is 1/2 the reference size from the center is set as the outline of the crop;
The agricultural robot according to claim 5, wherein the agricultural robot performs a calculation such that (iii) if the line reaches an extracted image frame of the partial data, a center of the crop is estimated from the pattern of the crop in the extracted image frame, a radius of the crop is set to half the reference size of the crop , and a circular line of the estimated center and radius is set to the outline of the crop. The agricultural robot of any one of claims 1 to 9, wherein the data extraction unit, when a previously prepared reference profiling indicating a surface pattern of a crop matches an image profiling within a specified range of the sensing data, determines that the crop is included within the specified range of the sensing data, identifies the crop as the estimated crop, and extracts data from the sensing data that includes the identified crop and an obstacle hiding the surface of the crop as the partial data.

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