JP7494023B2 - 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, pumpkins, etc. are generally cultivated (planted) in various places. When performing work such as harvesting crops using an agricultural robot, the work can be made more efficient if the robot can quickly search for the crops. However, the agricultural robot of Patent Document 1 has difficulty in searching for the crops.
An object of the present invention is to provide an agricultural robot capable of efficiently searching for crops.

The agricultural robot comprises a running body including a machine body and a running device that supports the machine body so that it can run, an attachment body that is detachably attached to the machine body, a manipulator including an arm attached to the attachment body and a robot hand provided at the tip of the arm, a first optical sensor that is rotatably attached to the machine body, a second optical sensor that is provided on either the arm or the robot hand, and a crop search unit that searches for crops based on first sensing data obtained by the first optical sensor and second sensing data obtained by the second optical sensor, and the crop search unit includes a position estimation unit that estimates a position indicating the orientation of the cultivation position and the relative distance to the cultivation position as the cultivation position of the crop within a facility for cultivating the crop, based on the rotation angle of the first optical sensor and the first sensing data.
The position estimation unit compares a size of the crop included in the first sensing data with a reference frame to calculate the relative distance .

The crop search unit includes a position identification unit that identifies a crop position, which is the position of the crop, based on the second sensing data when the moving body is positioned in the vicinity of the cultivation position estimated by the position estimation unit .
The vehicle is provided with a control device that moves the vehicle to the periphery of the cultivation position estimated by the position estimation unit.

The position identification unit identifies the crop position from second sensing data obtained from the second optical sensor when the moving body is moved to the periphery of the cultivation position and the moving body is stopped.
The position identification unit calculates a first distance between the crop and either the second optical sensor or the moving body based on the second sensing data, and identifies the crop position based on the calculated first distance.

The second optical sensor includes at least two of a laser sensor, an imaging device, and a spectroscopic analysis device.
The crop search unit includes a position identification unit that identifies a crop position, which is the position of the crop, based on the second sensing data when the moving body is positioned around the cultivation position estimated by the position estimation unit, and when either the first sensing data or the second sensing data includes identification information in an identification member that identifies a crop, the position of the identification member is set to either the cultivation position of the crop or the crop position of the crop.

The crop search unit includes a position identification unit that identifies a crop position, which is the position of the crop, based on the second sensing data when the mobile body is positioned around the cultivation position estimated by the position estimation unit, and the agricultural robot is equipped with a map creation unit that creates a cultivation map including the crop position and cultivation information associated with the identification information based on the first sensing data, the second sensing data, and the identification information when either the first sensing data or the second sensing data includes identification information in an identification member that identifies a crop.

The present invention allows for efficient crop exploration.

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 the route that the agricultural robot traveled within the facility. FIG. 1 is a diagram showing a state in which an agricultural robot performs work on crops. FIG. 11 is a diagram showing an example of a captured image H1 (first sensing data H11). 13 is a diagram showing the relationship between the optical axis A20 of the optical sensor and the angle θ1 when the arm bracket is rotated from the neutral position MP1. FIG. FIG. 11 is an explanatory diagram for explaining a method for determining the crop position Zn. FIG. 13 is a diagram showing second sensing data H12. FIG. 4 is a diagram showing the relationship between an identification member and a crop. FIG. 13 is a diagram showing an example of a cultivation map F2. 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 cultivated in facilities such as greenhouses and plant factories as shown in Figs. 17 to 20. 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. 17 to 20, 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 17 to 19, 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 that can adjust 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 17 and 18, 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 the arrow A1 in Figures 1 and 2 will be referred to as the forward direction, the direction indicated by the arrow A2 as the rearward direction, and the direction indicated by the arrow A3 as the front-rear direction. Therefore, the direction indicated by the arrow B1 in Figure 2 (the front side in Figure 1) is the left, and the direction indicated by the arrow B2 in Figure 2 (the rear side in Figure 1) is the right. In addition, the horizontal direction perpendicular to the front-rear direction A3 will be referred to as the machine body width direction (the direction of the 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 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 forward, 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 in a direction away from the running body 3, and by contracting the second arm cylinder C5, the robot hand 18 can be moved in a direction 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. Furthermore, the optical sensor 5A may 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.

8, the agricultural robot 1 has a control device 41. The control device 41 is, for example, a microcomputer including a CPU (Central Processing Unit), an EEPROM (Electrically Erasable Programmable Read-Only Memory), and the like.
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 particular, 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.
The agricultural robot 1 includes a crop searching unit 41G. The crop searching unit 41G is an electric/electronic circuit provided in the control device 41, a program stored in the control device 41, and the like.

The crop search unit 41G searches for the crop 2 based on the first sensing data obtained by the first optical sensor 5A and the second sensing data obtained by the second optical sensor 5B. If the optical sensor 5A is an imaging device, the first sensing data is the captured image (image data). If the optical sensor 5A is a laser sensor (lidar), the first sensing data is scan data including the distance and direction from the optical sensor 5A to the sensed target object (object).

When the optical sensor 5B is an imaging device, the second sensing data is a captured image (image data). When the optical sensor 5B is a laser sensor (lidar), the second sensing data is a distance from the optical sensor 5B to a sensed object (object),
This is scan data that includes orientation.
9, when the agricultural robot 1 performs work, the agricultural robot 1 travels along a passage 106 between cultivation areas 105 in the 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.

When the agricultural robot 1 travels, the crop searching unit 41G searches for the crop 2 based on the first sensing data (captured image, scan data) H10 and the second sensing data (captured image, scan data) K10.
The crop searching unit 41G will be described in detail below.
8, the crop searching unit 41G has a position estimation unit 81 and a position identification unit 82. The position estimation unit 81 estimates a cultivation position Dn of the crop 2 in the facility 100 for cultivating the crop 2 based on the first sensing data H11. The position identification unit 82 identifies a crop position Zn, which is the position of the crop, based on the second sensing data H12 when the agricultural robot 1 (traveling body 3) is positioned in the vicinity of the cultivation position Dn estimated by the position estimation unit 81.

As shown in FIG. 10, when the agricultural robot 1 is made to travel independently in the direction of travel in order to perform work on the crop 2 cultivated in the cultivation site 105, the position estimation unit 81 refers to the first sensing data H11. As shown in FIG. 11, the position estimation unit 81 determines whether the referenced first sensing data H11 includes profiling of the crop 2. Specifically, when the first sensing data H11 is a captured image, the position estimation unit 81 determines whether the captured image includes the crop 2 by matching the feature amount of the captured image, pattern matching, or the like. For example, the position estimation unit 81 compares the feature amount obtained from the captured image with the feature amount of a previously prepared image of the crop, and if the feature amounts of both match, it determines that the crop 2 is present in the captured image, and if the feature amounts of both do not match, it does not determine that the crop 2 is present in the captured image.

Alternatively, the position estimation unit 81 compares a previously prepared reference profiling indicating the surface pattern, contour, unevenness, etc. of the crop 2 with the image profiling obtained from the captured image, and if the reference profiling and the image profiling match, it determines that the captured image contains the crop 2, etc., and if the reference profiling and the data profiling do not match, it determines that the captured image does not contain the crop 2.

When the first sensing data H11 is scan data, the position estimation unit 81 determines whether the depicted object depicted in the scan data is a crop 2. In this case, the position estimation unit 81 compares the data profiling of the depicted object with the reference profiling, and if the reference profiling and the data profiling match, it determines that the scan data contains a crop 2, and if the reference profiling and the data profiling do not match, it determines that the scan data does not contain a crop 2.

As shown in FIG. 10, when the position estimation unit 81 determines that the first sensing data H11 includes the crop 2, it calculates the relative distance L10 between the crop 2 and the agricultural robot 1 (traveling body 3). As shown in FIG. 11, for example, when the first sensing data H11 is a captured image H1, the position estimation unit 81 compares the size of the image (vertical pixels, horizontal pixels) H2 of the crop 2, which is the subject included in the captured image H1, with the size of the reference frame (vertical pixels, horizontal pixels) F10. When the image H2 of the crop 2 is smaller than that of the reference frame F10, the position estimation unit 81 determines that the relative distance L10 is longer than the reference distance L11 determined corresponding to the reference frame F10. That is, the position estimation unit 81 estimates that the crop 2 is located farther away from the agricultural robot 1 (traveling body 3) than the reference distance L11. On the other hand, if the size of the image H2 of the crop 2 is larger than the reference frame F10, the position estimation unit 81 determines that the relative distance L10 is shorter than the reference distance L11. In other words, the position estimation unit 81 estimates that the crop 2 is closer to the agricultural robot 1 (traveling body 3) than the reference distance L11.

That is, the position estimation unit 81 compares the size of the image H2 of the crop 2 with the size of the reference frame F10, and obtains the current relative distance L10 between the agricultural robot 1 and the crop 2 based on the ratio of the size of the image H2 of the crop 2 to the size of the reference frame F10 and the reference distance L11. As shown in Fig. 12, when the arm bracket 26 is rotated around the first arm pivot 33A from the neutral position MP1, the position estimation unit 81 determines that the optical axis A20 of the optical sensor 5A also rotates by a predetermined angle θ1 with respect to the neutral position MP1. Here, when the line L20 in the Y-axis direction corresponding to the optical axis A20 is set in the captured image H1, the position estimation unit 81 calculates a predetermined angle θ1 of the optical sensor 5A with respect to the neutral position MP1 when the center of the image H2 of the crop 2 is aligned with the line L20, and estimates a position on the line L20 in the direction of the calculated predetermined angle θ1 and away from the center position O2 (rotation axis J1) of the optical sensor 5A by a relative distance L10 as the cultivation position Dn.

When the travel control unit 41A determines that the relative distance L10 (cultivation position Dn) estimated by the position estimation unit 81 is far from the current position of the agricultural robot 1 (traveling body 3) and that the tip side (robot hand 18) of the manipulator (working unit) 4 cannot reach the crop 2, it controls the agricultural robot 1 (traveling body 3) to move the agricultural robot 1 (traveling body 3) toward the cultivation position Dn so as to approach the cultivation position Dn. The travel control unit 41A stops the agricultural robot 1 (traveling body 3) when the tip side (robot hand 18) of the manipulator (working unit) 4 approaches a position where it can reach the crop 2, i.e., when it approaches the periphery of the cultivation position Dn.

When the agricultural robot 1 (moving body 3) moves around the cultivation position Dn and is stopped, as shown in Figures 13 and 14, the position identification unit 82 refers to the second sensing data H12 and identifies the position (crop position) Zn of the crop 2 from the referenced second sensing data H12. The position identification unit 82 calculates the first distance (relative distance L15) between the second optical sensor 5B and the crop 2 based on the second sensing data H12, and identifies the crop position Zn based on the calculated first distance (relative distance L15).

As shown in FIG. 14, for example, when the second sensing data H12 is the captured image H1, the position identification unit 82 adjusts the angle θ2 of the arm unit (first arm unit 31 and second arm unit 32) relative to the traveling body 3 so that the center (center in the X-axis direction) of the image H2 of the crop 2 included in the captured image H1 is located at the center of the captured image H1, that is, so that the line L21 in the Y-axis direction corresponding to the optical axis of the second optical sensor 5B coincides with the center (center in the X-axis direction) of the image H2 of the crop 2.

The position identification unit 82 compares the size of the image H2 of the crop 2 with the size of the reference frame F11 when the center (center in the X-axis direction) of the image H2 of the crop 2 is located at the center of the captured image H1. If the image H2 of the crop 2 is smaller than the reference frame F11, the position identification unit 82 determines that the relative distance L15 is longer than the reference distance L11 defined corresponding to the reference frame F11. That is, the position identification unit 82 estimates that the crop 2 is located farther from the agricultural robot 1 (traveling body 3) than the reference distance L11. On the other hand, if the size of the image H2 of the crop 2 is larger than the reference frame F11, the position identification unit 82 determines that the relative distance L15 is shorter than the reference distance L11. That is, the position identification unit 82 estimates that the crop 2 is located closer to the agricultural robot 1 (traveling body 3) than the reference distance L11.

The position identification unit 82 compares the size of the image H2 of the crop 2 with the size of the reference frame F11, and determines the relative distance L15 between the second optical sensor 5B and the crop 2 based on the ratio between the size of the image H2 of the crop 2 and the size of the reference frame F11 and the reference distance L11.
The position identification unit 82 calculates the relative distance L10 from the agricultural robot 1 (traveling body 3) to the crop 2 by summing the movable distance L16 between the rotation axis J1 and the second optical sensor 5B and the relative distance L15. The position identification unit 82 also calculates the position (crop position) Zn (X coordinate: Zxn, Yxn, n = 1, 2, 3 ...) of the crop 2 when the rotation axis J1 is set as the origin, using the relative distance L10 (relative distance L15 + movable distance L16) and the angle θ2 of the arm with respect to the traveling body 3.

The movable distance L16 can be calculated from the angle θ3 of the first arm section 31 relative to the rotating frame 21, the angle θ4 between the first arm section 31 and the second arm section 32, the length of the first arm section 31, and the length of the second arm section 32 (the stroke of the second arm section 32). For example, the angle θ3 can be obtained by a sensor that detects the rotation of the first arm pivot 33A or a sensor that detects the stroke of the first arm cylinder C4. The angle θ4 can be obtained by a sensor that detects the rotation of the second arm pivot 33B or a sensor that detects the stroke of the second arm cylinder C5.

In the above embodiment, an example has been described in which the first sensing data H11 and the second sensing data H12 are the captured image H1, but instead, the first sensing data H11 and the second sensing data H12 may be scanner data. The position estimation unit 81 can calculate the relative distance L10 based on the scanner data, and the position identification unit 82 can also calculate the relative distance L15 based on the scanner data.

The second optical sensor 5B may be a laser sensor, an imaging device, or a spectroscopic analysis device that detects components of the crop 2 by spectroscopically analyzing reflected waves of light irradiated onto the crop. The second optical sensor 5B may include two or more of a laser sensor, an imaging device, and a spectroscopic analysis device.
15 , an identification member 85 for identifying the crop 2 may be installed near the crop 2. The identification member 85 includes a code portion 85a showing identification information (identification data) of the crop 2, which is shown by a two-dimensional barcode, numbers, color, or the like, and a support member 85b, such as a post or rod, for supporting the code portion 85a.

When the code portion 85a of the identification member 85 is included in either the first sensing data H11 or the second sensing data H12, the crop search unit 41G may estimate the cultivation position Dn and the crop position Zn based on the second distance between the identification member 85 and the traveling body 3. The identification information is associated with information on cultivation (cultivation information) such as the planting date when the seedlings of the crop 2 were planted and the planned harvest date of the crop 2, and by detecting the identification information with the optical sensor (first optical sensor 5A, second optical sensor 5B), it is possible to grasp the planting date, planned harvest date, etc. of the crop 2 corresponding to the identification information. For example, the cultivation information and the identification information are associated with each other and stored in an external device such as a server or a mobile terminal. When the optical sensor (first optical sensor 5A, second optical sensor 5B) detects the identification information, the agricultural robot 1 can acquire the cultivation information from the external device by connecting the communication device of the agricultural robot 1 to the external device. In the above-described embodiment, the cultivation information and the identification information are associated with each other and stored in an external device, but they may also be stored in the control device 41.

As shown in FIG. 15, when the crop 2 is covered with leaves or the like, it may be difficult to detect the shape (profiling) of the crop 2 from the first sensing data H11 and the second sensing data H12. The crop search unit 41G refers to either the first sensing data H11 or the second sensing data H12, and when the referenced sensing data includes an identification member 85, estimates the position of the identification member 85 as either the cultivation position Dn or the crop position Zn, instead of the crop 2.

Specifically, when the position estimation unit 81 determines that the first sensing data H11 includes the identification member 85, it calculates the relative distance between the identification member 85 and the agricultural robot 1 (moving body 3). Instead of the relative distance L10 between the crop 2 and the agricultural robot 1 (moving body 3), the position estimation unit 81 calculates the relative distance between the identification member 85 and the agricultural robot 1 (moving body 3), and obtains the cultivation position Dn based on this relative distance. The method of obtaining the cultivation position Dn is the same as for the crop 2, and can be achieved by replacing the crop 2 with "identification member" and the image of the crop 2 with "image of the identification member 85" in the explanation of the position estimation unit 81.

When the position identification unit 82 determines that the second sensing data H12 includes the identification member 85, it calculates the relative distance between the identification member 85 and the second optical sensor 5B. Instead of the relative distance L15 between the crop 2 and the second optical sensor 5B, the position identification unit 82 calculates the relative distance between the identification member 85 and the second optical sensor 5B, and determines the crop position Zn based on this relative distance. The method of determining the crop position Zn is the same as for the crop 2, and can be achieved by replacing the crop 2 with "identification member" and the image of the crop 2 with "image of the identification member 85" in the explanation of the position identification unit 82.

8, the agricultural robot 1 may include a map creation unit 41H. The map creation unit 41H is an electric/electronic circuit provided in the control device 41, a program stored in the control device 41, or the like.
When either the first sensing data H11 or the second sensing data H12 includes identification information of the identification member 85b, the map creation unit 41H creates a cultivation map F2 including the crop position Zn and cultivation information based on the first sensing data H11, the second sensing data H12, and the code portion 85a of the identification member 85 (identification information of the identification member 85b), as shown in Figure 16.

Specifically, as described above, the map creation unit 41H refers to the crop position Zn determined by the crop search unit 41G when the agricultural robot 1 is caused to travel along the cultivation area 105 from the work start point P11 to the work end point P12.
Next, as shown in FIG. 13, the map creation unit 41H determines the position of the agricultural robot 1 (running body 3), for example, the position of the rotation axis J1, as the vehicle position Ri (i = 1, 2, 3, ...), and finds the crop position Zna in the facility 100 by adding or subtracting the referenced crop position Zn (X coordinate: Zxn, Yxn, n = 1, 2, 3, ...) from the vehicle position Ri.

Here, the vehicle body position Ri can be obtained, for example, by the distance in the vertical direction Y1 from the entrance/exit 130 to the current agricultural robot 1, or the distance in the horizontal direction X1 from the entrance/exit 130 to the current agricultural robot 1. Alternatively, the vehicle body position Ri can be obtained by taking the work start point P11 as the origin in the facility 100, and by the distance in the vertical direction Y1 from the work start point P11 to the current agricultural robot 1, or the distance in the horizontal direction X1 from the work start point P11 to the current agricultural robot 1.

Furthermore, even if the vehicle body position Ri is determined based on either the entrance/exit 130 or the work starting point P11, it is possible to determine the current position of the agricultural robot 1, for example, by providing a rangefinder on the running body 3 that measures the distance traveled.
As described above, when the agricultural robot 1 is caused to travel along the cultivation site 105 from the work start point P11 to the work end point P12, the map creation unit 41H acquires, from the external device or the control device 41, the identification information detected by the optical sensors (first optical sensor 5A, second optical sensor 5B), determines cultivation information from the acquired identification information, and creates a cultivation map F2 in which the determined cultivation information is associated with the crop position Zna, as shown in Fig. 16. When displaying the cultivation map F2, a figure indicating the crop 2 is shown at the crop position Zna, as shown in Fig. 16.

The agricultural robot 1 includes a traveling body 3 including a machine body 6 and a traveling device 7 that supports the machine body 6 so that it can travel, a mounting body 16 that is detachably mounted on the machine body 6, a manipulator 4 including an arm 17 attached to the mounting body 16 and a robot hand 18 provided on the tip side of the arm 17, a first optical sensor 5A provided on the machine body 6, a second optical sensor 5B provided on either the arm 17 or the robot hand 18, and a crop search unit 41G that searches for the crop 2 based on the first sensing data H11 obtained by the first optical sensor 5A and the second sensing data H12 obtained by the second optical sensor 5B. This makes it possible to more efficiently search for the crop 2 by sensing both the first sensing data H11 sensed from the machine body 6 by the first optical sensor 5A and the second sensing data H12 sensed from either the arm 17 or the robot hand 18. For example, the first sensing data H11 can be used to determine the rough position of the crop 2, and the second sensing data H12 can be used to determine the exact position of the crop 2. By dividing the data in this way, it becomes possible to quickly move the traveling body 3 and the manipulator 4 to the position of the crop 2.

The crop search unit 41G includes a position estimation unit 81 that estimates the cultivation position Dn of the crop in the facility 100 where the crop 2 is cultivated based on the first sensing data H11, and a position identification unit 82 that identifies the crop position Zn, which is the position of the crop, based on the second sensing data H12 when the traveling body 3 is positioned around the cultivation position Dn estimated by the position estimation unit 81. This makes it possible to grasp the cultivation position Dn, which is the approximate position of the crop, in the facility 100, and to grasp the crop position Zn, which is the exact position of the crop 2.

The agricultural robot 1 includes a control device 41 that moves the traveling body 3 around the cultivation position Dn estimated by the position estimation unit 81. This allows the agricultural robot 1 to be efficiently moved to the cultivation position Dn, which is the approximate position of the crop, within the facility 100.
The position identification unit 82 identifies the crop position Zn from the second sensing data H12 obtained from the second optical sensor 5B when the traveling body 3 is moved to the periphery of the cultivation position Dn and the traveling body 3 is stopped. With this, when the traveling body 3 is stopped after moving during work or the like, the crop position Zn, which is the exact position of the crop 2, can be easily obtained, and with the traveling body 3 stopped, the tip side of the manipulator 4 can be positioned at the obtained crop position Zn, thereby efficiently working on the crop 2 at the crop position Zn.

The position identifying unit 82 calculates a first distance (relative distance) L15 between the crop 2 and either the second optical sensor 5B or the traveling body 3 based on the second sensing data H12, and identifies the crop position Zn based on the calculated first distance (relative distance) L15. This makes it possible to determine the actual position of the crop 2 and the crop position Zn with little error.
The second optical sensor 5B includes two or more of a laser sensor, an imaging device, and a spectroscopic analysis device. This makes it possible not only to accurately determine the crop position Zn of the crop 2, but also to grasp the condition of the crop 2, such as its quality.

When either the first sensing data H11 or the second sensing data H12 contains identification information of the identification member 85b that identifies the crop, the crop search unit 41G estimates the cultivation position Dn and the crop position Zn based on the second distance between the identification member 85 and the traveling body 3. This makes it possible to easily determine the position of the crop 2 (cultivation position Dn, crop position Zn) by simply sensing the presence or absence of the identification member 85 without directly sensing the crop 2.

The agricultural robot 1 is equipped with a map creation unit 41H that creates a cultivation map F2 including the crop position Zn and cultivation information based on the first sensing data H11, the second sensing data H12, and the identification data when either the first sensing data H11 or the second sensing data H12 includes identification information of an identification member 85b that identifies a crop. This makes it easy to check the crop position Zn and the cultivation information using the cultivation map F2. For example, when performing work using the agricultural robot 1, work can be performed at the crop position Zn according to the cultivation information.

Although one embodiment of the present invention has been described above, the embodiment disclosed herein 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 is intended to include all modifications within the meaning and scope of the claims.

1: Agricultural robot 2: Crop 3: Traveling body 4: Manipulator 5A: First optical sensor 5A: Optical sensor 5B: Optical sensor 5B: Second optical sensor 6: Machine body 7: Traveling device 16: Mounting body 17: Arm 18: Robot hand 41: Control device 41G: Crop search unit 41H: Map creation unit 81: Position estimation unit 82: Position specification unit 85: Identification member 85b: Identification member 100: Facility Dn: Cultivation position F2: Cultivation map H11: First sensing data H12: Second sensing data Zn: Crop position

Claims (9)

A traveling body including a machine body and a traveling device that supports the machine body so that the machine body can travel;
a manipulator including a mounting body detachably mounted on the aircraft body, an arm attached to the mounting body, and a robot hand provided on a tip side of the arm;
A first optical sensor provided on the aircraft body and rotatably mounted thereon;
a second optical sensor provided on either the arm or the robot hand;
a crop searching unit that searches for a crop based on first sensing data obtained by the first optical sensor and second sensing data obtained by the second optical sensor,
The agricultural robot includes a position estimation unit that estimates a cultivation position of the crop within a facility for cultivating the crop, the cultivation position indicating the orientation of the cultivation position and the relative distance to the cultivation position, based on the rotation angle of the first optical sensor and the first sensing data. The agricultural robot of claim 1, wherein the position estimation unit compares the size of the crop contained in the first sensing data with a reference frame and calculates the relative distance. The agricultural robot according to claim 1, wherein the crop search unit includes a position identification unit that identifies a crop position, which is the position of the crop, based on the second sensing data when the mobile body is positioned in the vicinity of the cultivation position estimated by the position estimation unit. The agricultural robot according to claim 3, further comprising a control device that moves the mobile body around the cultivation position estimated by the position estimation unit. The agricultural robot according to claim 4, wherein the position identification unit identifies the crop position from second sensing data obtained from the second optical sensor when the moving body is moved around the cultivation position and stopped. The agricultural robot according to claim 5, wherein the position identification unit calculates a first distance between the crop and either the second optical sensor or the traveling body based on the second sensing data, and identifies the crop position based on the calculated first distance. The agricultural robot according to any one of claims 1 to 6, wherein the second optical sensor includes two or more of a laser sensor, an imaging device, and a spectroscopic analysis device. The agricultural robot of any one of claims 1 to 7, wherein the crop search unit includes a position identification unit that identifies a crop position, which is the position of the crop, based on the second sensing data when the mobile body is positioned in the vicinity of the cultivation position estimated by the position estimation unit, and when either the first sensing data or the second sensing data includes identification information in an identification member that identifies a crop, the position of the identification member is set to either the cultivation position of the crop or the crop position of the crop. the crop search unit includes a position identification unit that identifies a crop position, which is a position of a crop, based on the second sensing data when the traveling body is positioned in the vicinity of the cultivation position estimated by the position estimation unit,
An agricultural robot as described in any one of claims 1 to 7, further comprising a map creation unit that creates a cultivation map including a crop position and cultivation information associated with the identification information based on the first sensing data, the second sensing data, and the identification information when either the first sensing data or the second sensing data includes identification information in an identification component that identifies a crop.

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