JP6781360B2 - Agricultural work robot - Google Patents

Description

The present invention relates to an agricultural work robot capable of controlling various agricultural operations by moving from a moving passage to each cultivation shelf.

The agricultural work robot shown in Prior Patent Document 1 steers the left and right work traveling devices that travel on the work rail provided in the work passage along the cultivation shelf and the moving passage for moving to the work passage of another cultivation shelf. It is equipped with left and right mobile traveling devices. This left and right mobile traveling device is configured to be steerable in order to perform the turning traveling required when moving to another cultivation shelf, and autonomous traveling can be performed by detecting the turning position with a sensor. , Unmanned continuous work is realized.

Japanese Unexamined Patent Publication No. 2012-80843

However, if the left and right moving traveling devices can be steered, the difference in ground resistance between the left and right may cause a deviation from the straight traveling direction, which hinders the traveling straight and causes an extra mileage such as meandering. There is a problem that the scheduled work is interrupted because the battery runs out and the vehicle stops in the middle of driving.
In addition, if the traveling direction deviates significantly from the straight traveling direction, the sensor cannot detect the turning position and cannot move to another cultivation shelf, the scheduled work is interrupted, and the position where the worker should move. There is a problem that extra labor is required due to the work of returning to.
The left and right work traveling devices and the left and right moving traveling devices are configured to rotate the driving force of each of the left and right electric motors via the left and right transmission chains, but each of the left and right traveling devices is transmitted by one transmission. By driving with a chain, there is a problem that the work cannot be carried on the moving rail due to insufficient driving force, and the work is interrupted. In addition, it is necessary to provide tension members in the winding area of the left and right transmission chains, which complicates the configuration. And there is a problem that the number of parts increases.

An object of the present invention is to provide an agricultural work robot capable of ensuring work efficiency and work accuracy by traveling suitable for each situation of mobile travel and work travel.

The invention according to claim 1 is a traveling device that performs both work traveling in a work passage (L) along a crop cultivation line and moving travel in a moving passage (F) leading to another work passage (L) along a crop cultivation line (L). In an agricultural work robot equipped with T) and a work device (W) for performing work on a crop of a crop cultivation line.
The traveling device (T) includes the left and right working traveling members (2) for working traveling, the moving traveling member (3) for mobile traveling, and drive members (4a, 4a) capable of forward / reverse control independently on the left and right. ), Left and right moving transmission mechanisms (4b, 4b) and left and right work that are transmitted from the left and right driving members (4a, 4a) to the working traveling member (2) via the moving traveling member (3). The feature is that the transmission mechanism (4c, 4c) is configured to be able to control forward and reverse independently on the left and right , and
The ground contact height position of the left and right moving traveling members (3) is configured to be lower than the ground contact height position of the left and right working traveling members (2).
A working distance sensor (2s) for measuring the working mileage due to the operation of the left and right working traveling members (2) is provided, and a moving distance sensor (3s) for measuring the moving mileage due to the operation of the moving traveling member (3) is provided. When the moving mileage by the moving distance sensor (3s) from the time when the working distance sensor (2s) stops measuring the working mileage reaches a predetermined distance, the left and right driving members (4a, 4a) are used. It is characterized in that the traveling device (T) is turned and controlled .

The invention according to claim 2 is the invention according to claim 1, before Symbol lateral working traveling member (2) of the traveling device on the body front side (T) of the working rail (R, R) that can be guided horizontally to The guide rollers (2c, 2c) are provided , and the urging members (2d, 2d) for urging the left and right guide rollers (2c, 2c) inward are provided .

The invention according to claim 3 is the invention according to claim 1 or 2 , wherein the working distance sensor (2s) uses the traveling device (2b) to rotate left and right traveling rotating members (2b) according to the amount of work traveled. It is provided in T) and is characterized in that the working mileage is measured by the rotation of the traveling rotating member.

The invention according to claim 4 is a traveling device that performs both work traveling in a work passage (L) along a crop cultivation line and moving travel in a moving passage (F) leading to another work passage (L) along a crop cultivation line (L). In an agricultural work robot equipped with T) and a work device (W) for performing work on a crop of a crop cultivation line.
The traveling device (T) includes the left and right working traveling members (2) for working traveling, the moving traveling member (3) for mobile traveling, and drive members (4a, 4a) capable of forward / reverse control independently on the left and right. ), Left and right moving transmission mechanisms (4b, 4b) and left and right work that are transmitted from the left and right driving members (4a, 4a) to the working traveling member (2) via the moving traveling member (3). The feature is that the transmission mechanism (4c, 4c) is configured to be able to control forward and reverse independently on the left and right, and
The ground contact height position of the left and right moving traveling members (3) is configured to be lower than the ground contact height position of the left and right working traveling members (2).
An objective detection member (S) for detecting the entrance / exit of the crop cultivation strip is provided on the front side of the machine body with respect to the left and right working traveling members (2), and the moving traveling distance is measured from the operation of the left and right moving traveling members (3). Left and right movement distance sensors (3s, 3s) are provided respectively, and when the objective detection member (S) detects the entrance / exit of the crop cultivation strip, the left and right movement distance sensors (3s, 3s) are made to measure the movement distance, and a predetermined value is obtained. When the distance is reached, the traveling device is swiveled and controlled by the left and right driving members (4a, 4a).

The invention according to claim 5 is the invention according to any one of claims 1 to 4 , wherein the left and right work transmission mechanisms (4c, 4c) are composed of chain winding members, and the left and right chain winding regions are included. Is provided with an auxiliary guide member (2e) that comes into contact with the work rails (R, R) and stabilizes the posture of the traveling device (T).

The invention according to claim 6 is the invention according to any one of claims 1 to 5 , wherein the working device (W) is detachably provided on the traveling device (T).

The invention according to claim 7 is the invention according to any one of claims 1 to 6, depending on the control device incorporating a selection operation program to perform the work in crop cultivation conditions selected, the moving distance sensor ( It is characterized in that the traveling device (T) is moved and controlled to the crop cultivation strip selected based on the moving mileage measured by 3s).

Invention, in the invention according to claim 7, incorporating a work operation program for positioning to operate the working device (W) to the control device, the working distance sensor (2s) is measured according to claim 8 The work mileage and the movement mileage measured by the movement distance sensor (3s) are acquired as position information of the work device (W), and this position information is associated with the work information of the work device (W). It is characterized by recording.

The invention according to claim 9 is an invention according to claim 8 , wherein an information storage device for storing a record in which the position information and the work information are associated is provided, and an identification name assigning program for assigning an identification name to the stored record is provided. It is characterized in that when it is incorporated into the control device and the record is stored, an identification name based on the position information is given to the record.

The invention according to claim 10, in the invention according to claim 9, wherein the controller incorporates a time program, a configuration that associates the date and time information to the recording to be saved, the control device, the distinguished name of the recording "work area of It is characterized by using "identification name", "position information in the work area", and "date and time".

According to the invention of claim 1, by performing work running and moving running with different running members (2, 3), running suitable for the running situation can be performed, so that the running posture is stable, and work efficiency and work accuracy are achieved. Is improved.
The left and right drive members (4a, 4a) can rotate the traveling device (T) by dividing the working traveling member (2) and the moving traveling member (3) into left and right and driving them so that they can reversely operate each other. Because it can be done, the degree of freedom of running is improved.
Further, the drive member (4a, 4a) is divided into left and right parts and transmitted to the moving traveling member (3) via the moving transmission mechanism (4b, 4b), and the moving traveling member (3) transmits the work transmission mechanism (4c, 4c, respectively. By transmitting to the left and right working traveling members (2) via the 4c), the left and right working traveling members (2) and the left and right moving traveling members (3) are transferred to the left and right driving members (4a, 4a). Since it can be driven by, the number of parts can be reduced. In addition, in the moving passage (F), the left and right moving traveling members (3) below the left and right working traveling members (2) are brought into contact with the ground, so that the left and right working traveling members (2) and the left and right moving traveling members are grounded. Since (3) does not touch the ground at the same time, it is possible to prevent the working traveling member (2) from touching the ground and disturbing the turning locus when the left and right moving traveling members (3) make a turning trip. Further, since the working distance sensor (2s) measures the working mileage, it is possible to determine whether or not the traveling vehicle body is working along the work rails (R, R). It becomes possible to turn the traveling device based on the distance measured in 3s).

According to the invention of claim 2 , in addition to the effect of the invention of claim 1 , left and right guide rollers (2c, 2c) are attached to the work rails (R, R) for traveling and supporting the work traveling member (2). By urging inward with the force members (2d, 2d), the guide rollers (2c, 2c) in contact with the work rails (R, R) can move to the outside of the machine, so that the work rails (R, 2c) can be moved to the outside. The approach position of the traveling device (T) with respect to R) is automatically adjusted, and the work is prevented from being interrupted without being able to get on the work rails (R, R).

According to the invention of claim 3 , in addition to the effect of the invention of claim 1 or 2 , the working distance sensor (2s) measures the working distance based on the rotation of the traveling rotating member (2b). Since the measurement of the working mileage can be completed at the same time as the traveling is completed, the timing at which the moving distance sensor (3s) starts measuring the moving mileage is prevented from being disturbed, and the turning position of the traveling device is optimized. Be done.

The invention according to claim 4, by pivoting the traveling device after moving traveling a predetermined distance from the detection of the entrance of the crops cultivated strip, can be pivoted in place.

According to the invention of claim 5 , in addition to the effect of the invention of any one of claims 1 to 4 , the vibration of the traveling device (T) is caused by stabilizing the posture of the traveling device with the auxiliary guide member (2e). Since it is possible to prevent the working posture of the working device (W) from being disturbed due to such factors, the working efficiency and working accuracy of the working device (W) are improved.
Further, since the auxiliary guide member (2e) is provided in the chain winding area of the work transmission mechanism (4c, 4c), the auxiliary guide member (2e) can suppress the slack of the chain, so that it is not suitable during work running. The necessary stoppages are prevented.

According to the invention of claim 6 , in addition to the effect of the invention of any one of claims 1 to 5 , the work device (W) is detachably provided so that the same traveling device can be used even for different operations. Therefore, it is not necessary to prepare a traveling device for each working device.

According to the invention of claim 7 , in addition to the effect of the invention of any one of claims 1 to 6 , the traveling device (T) is moved and controlled to perform the work only on the selected crop cultivation strip. Since the work device (W) can be prevented from performing unnecessary work, work efficiency is improved.

According to the invention of claim 8 , in addition to the effect of the invention of claim 7 , by recording the work information of the work apparatus (W) in association with the position information, what kind of work can be performed at any position in the work place. You can easily check if you have been damaged.

According to the invention of claim 9 , in addition to the effect of the invention of claim 8 , by giving an identification name based on the position information to the record to be stored, what kind of work is performed at which position and what kind of result is obtained. Since it is possible to analyze whether or not the results have been obtained, the work using another work device (W) can be optimized, and the work efficiency and accuracy can be improved.
Further, by determining the problem of the current cultivation of the crop for each work position, it is possible to improve the cultivation method now or after the next time, so that the quality of the cultivated crop is improved.

According to the invention of claim 10 , in addition to the effect of the invention of claim 9 , "identification name of work area (house name, house number, etc.)", "position information in work area", and "date and time" are added to the identification name of the record. By using "", it is possible to easily grasp the specific work place and the date and time when the work was performed, so that the work contents can be analyzed in more detail, and the work efficiency and accuracy can be improved. ..

Front view around the running part Plan view around the running part Side view around the running part Top perspective view (a) and plan view (b) of the traveling device Perspective view of rail end Side view (a) and front view (b) of the traveling unit An exploded perspective view (a) and a partial cross-sectional view (b) of the main part of the guard plate. Plan view of cultivation shelf configuration example in the work area Block diagram showing the control relationship of each sensor and switch Top view (a) and front view (b) of a schematic view of the objective detection member (A) Schematic diagram showing a working run, (b) Schematic plan showing a moving run, (c) Schematic plan showing a transition run Flow chart showing control during movement on the work rail and transition from the work rail to the moving passage Flow chart showing turning after moving from the work rail to the moving passage and turning control when moving from the moving passage to the working rail Flow chart of another control example showing turning after moving from the work rail to the moving passage and turning control when moving from the moving passage to the working rail (A) Flow chart showing running stop control when there is an obstacle in the detection range of the objective detection member, (b) Flow chart showing running reversal control when there is an obstacle in the detection range of the objective detection member Flow chart showing movement control during work running and operation control of work equipment Flowchart showing the recording of position information for each work position Flow chart showing control to give a file name that can identify the work date and time and the work content when recording the position information Flow chart showing control to automatically move the agricultural work robot onto the work rail when it overruns from the work rail

An embodiment specifically configured based on the above technical idea will be described below with reference to the drawings.

As shown in FIGS. 1 to 3, the agricultural work robot 1 has a work device W and a control device (not shown) attached to the traveling device T used for the working traveling and the moving traveling as shown in the front view, the plan view, and the side view of the traveling portion. Be prepared. Further, the control relationship of various sensors and switches provided in the agricultural work robot 1 shall be shown in the block diagram of FIG.

The traveling device T includes a working traveling member 2 for traveling on the work passage L provided along the crop cultivation line, a moving traveling member 3 for traveling on the moving passage F leading to the plurality of working passages L, and the like. It is composed of a transmission mechanism 4 that drives the work traveling member 2 and the moving traveling member 3 to travel, and is a sensor that monitors the state in the traveling direction by laser light or the like for traveling control in the moving passage F and the working passage L. A certain objective detection member S is provided.

The work traveling member 2 moves the left and right front wheels 2a and 2a and the left and right rear wheels 2b and 2b that support the front and rear of the machine body so as to be able to move forward and backward on the left and right work rails R and R provided in each work passage L. It is configured so that it can be grounded at the height H position of the work rail R higher than the passage F. Further, left and right guide rollers 2c and 2c for aligning the traveling device T with the left and right working rails R and R when entering the work passage L are provided at the frontmost portion of the traveling device T.
The left and right front wheels 2a and 2a and the left and right rear wheels 2b and 2b are rotatably provided. The left and right front wheels 2a and 2a shall be mounted on the front wheel axles 2f and 2f, and the left and right rear wheels 2b and 2b shall be provided on one rear wheel axle 2g.

The moving traveling member 3 is composed of left and right drive wheels 3a and 3a that are in contact with the flat moving passage F and left and right caster type auxiliary wheels 3b and 3b that support the front and rear end positions of the machine body.

The transmission mechanism 4 is a left and right movement transmission mechanism 4b, 4b and left and right by a chain that transmits the left and right front wheels 2a, 2a from the left and right traveling motors 4a, 4a that can control forward and reverse rotation via the left and right drive wheels 3a, 3a. It is composed of the work transmission mechanisms 4c and 4c of.

As a more specific configuration, as shown in FIGS. 1 to 3, output sprockets 40 are provided on the output shafts of the left and right traveling motors 4a and 4a, respectively, and the drive shafts 3c and 3c of the left and right drive wheels 3a and 3a are provided. Each input sprocket 41 is provided. Then, by winding the left and right movement transmission mechanisms 4b and 4b around the left and right output sprockets 40 and 40 and the left and right input sprockets 41 and 41 in an endless manner, the left and right traveling motors 4a and 4a drive left and right. The driving force is transmitted to the wheels 3a and 3a.

Further, the drive sprockets 42 of the left and right drive shafts 3c and 3c are provided outside the machine body from the left and right input sprockets 41 and 41, respectively, and the driven sprockets 43 of the rotation shafts 2f and 2f of the left and right front wheels 2a and 2a are provided. Provide each. The left and right driven sprockets 43, 43 are arranged outside the fuselage with respect to the left and right front wheels 2a, 2a. Then, by winding the left and right work transmission mechanisms 4c and 4c around the left and right drive sprockets 42 and 42 and the left and right driven sprockets 43 and 43 in an endless manner, the left and right front wheels are wound from the left and right traveling motors 4a and 4a. The driving force is transmitted to 2a and 2a.
The left and right input sprockets 41, 41 and the left and right drive sprockets 42, 42 are arranged inside the machine body with respect to the left and right drive wheels 3a, 3a.

With the above configuration, the front wheels 2a and the drive wheels 3a can be driven and rotated by one traveling motor 4a, so that the number of parts and the weight can be reduced.
In addition, by arranging the left and right input sprockets 41, 41 and the left and right drive sprockets 42, 42 inside the machine body from the left and right drive wheels 3a, 3a, the left and right width of the machine body is suppressed, and the structure becomes compact. The transmission mechanism 4 is prevented from coming into contact with the plants hanging from the cultivation shelf, and the plants are prevented from being damaged or the plants being entangled and the work is interrupted.

By arranging the left and right driven sprockets 43, 43 outside the aircraft body from the left and right front wheels 2a, 2a, the left and right driven sprockets 43, 43 and the left and right work transmission mechanisms 4c, 4c are placed on the left and right work rails R, R. The left and right driven sprockets 43, 43 and the left and right work transmission mechanisms 4c, 4c come into contact with the left and right work rails R, R, causing an abnormality in the traveling transmission, and the traveling is stopped and the work is interrupted. This is prevented from occurring and failure.

In particular, since the configuration does not interfere with the connecting portion RJ on the inlet side of the left and right work rails R, R, the vertical positions where the left and right driven sprockets 43, 43 and the left and right work transmission mechanisms 4c, 4c do not contact the connecting portion RJ. There is no need to place it in the airframe, and the complexity of the aircraft configuration can be suppressed.

In the traveling device T having the above configuration, the left and right driving wheels 3a and 3a are driven by the ground in the moving passage F, and the left and right caster type auxiliary wheels 3b and 3b support the front and rear end positions of the machine body. The left and right drive wheels 3a and 3a are driven from the 4a and 4a via the left and right movement transmission mechanisms 4b and 4b.

Further, in the work passage L, the left and right front wheels 2a and 2a and the left and right rear wheels 2b and 2b support the machine body on the left and right work rails R and R, and the work transmission mechanisms 4c and 4c are transmitted from the left and right drive wheels 3a and 3a. The left and right front wheels 2a and 2a are driven via the above.

In the work passage L, the periphery of the left and right work rails R and R is dug down so as to be lower than the movement passage F, and the left and right front wheels 2a and 2a and the rear wheels 2b and 2b are formed on the left and right work rails R and R. When mounted, the left and right drive wheels 3a and 3a cannot touch the ground, so that the drive rotations of the left and right front wheels 2a and 2a are not affected.

(Traveling device)
The traveling device T includes an objective detecting member S such as a laser sensor that detects the presence or absence of an object within a predetermined range in the center of the front portion thereof, and travels when there is an object in front of the traveling device T as shown in FIGS. 15A and 15B. The vehicle body can be stopped or retracted. By narrowing the detection range D1 during work travel and widening the detection range D2 during travel travel, the objective detection member S can prevent collision damage and prevent unnecessary stops to improve work efficiency. it can.

In the above, narrowing the detection range of the objective detection member S during work travel is to detect the foliage of the plant cultivated on the cultivation shelf as an obstacle and stop or retreat even though it is possible to move forward. This is to prevent the work from being interrupted.

As shown in FIGS. 11 (a) and 11 (b), the detection range D1 during the work running is near the central portion in the left-right direction of the machine body, and is assumed to extend from 0 to 30 degrees in the left-right direction as an example. Further, the detection range D2 during moving travel extends from the central portion in the left-right direction of the aircraft to the left-right diagonal direction, and as an example, extends to 45 to 60 degrees in the left-right direction.
As shown in FIG. 11A, the objective detection member S can detect a quadrangular (rectangular) area on the front side of the traveling device T when detecting the detection range D1 during working travel. This detection range is configured to be automatically switched by the control device 100.

Then, as shown in FIG. 11C, when the objective detection member S detects that the rear wheels 2b and 2b have moved from the left and right work rails R and R to the moving passage F, the objective detection member S moves from the work rails R and R. By switching to the detection range D3 at the time of transition to the passage F and detecting the sign curtain M described later, it is detected that the rails are near the ends of the entrances and exits of the left and right work rails R and R. This detection range D3 is at least one of the left and right sides, and extends to 120 to 180 degrees as an example. At this time, since it is necessary to detect the presence or absence of a wall or surrounding obstacles, the detection range D1 during work travel is also detected at the same time.

It is assumed that the sign curtain M is out of the laser irradiation range of the objective detection device S at the position where the left and right front wheels 2a and 2a move from the work rails R and R to the moving passage F.
As shown in FIG. 10, the objective detection member S rotates the laser irradiation unit S1 around the rotation fulcrum S2 within a predetermined range, for example, 180 degrees forward, and the laser irradiation distance varies. Although the one that detects the presence of an object is used, a plurality of laser irradiation units may irradiate a plurality of places with a laser to detect a place where the irradiation distance fluctuates.

(Working)
On the work rails R and R of each work passage L, the left and right front wheels 2a and 2a are driven, and the work distance sensors 2s such as a rotary encoder provided at the center of the left and right rear wheels 2b and 2b of the axles 2g in the left-right direction. Measure the work mileage on the work rails R and R with. The working distance sensor 2s makes it possible to distinguish between working running and moving running, and also obtains working position information.

The agricultural work robot 1 is provided with a work device W such as a diagnostic unit for diagnosing the state of plants, a management robot for managing plants, and a harvesting robot for harvesting crops. These work devices W are on the cultivation shelf. It has the ability to work within a predetermined range, and by moving the agricultural work robot 1 by a predetermined distance, it becomes possible to perform work within an even range.

By detecting the work mileage of the agricultural work robot 1 by the work distance sensor 2s, it becomes possible to automatically move a distance suitable for the work of the work device W, improving work efficiency and performing work. Occurrences that do not occur are prevented, enabling stable plant growth and crop harvesting at the right time.

As shown in FIGS. 16 and 17, in the work device W, after a predetermined time (example: 10 to 20 seconds) after the work distance sensor 2s detects a predetermined distance and the work running of the agricultural work robot 1 is stopped. With the control configuration for starting the operation, it is possible to prevent the work device W from starting the work in a state where the work device W is swaying due to inertia when the agricultural work robot 1 is stopped, so that the work of the work device W is prevented from becoming unstable. .. At this time, as shown in FIG. 17, it is assumed that the control device 100 records the work record for each work position described later.

The detection of the predetermined time is performed by a timer incorporated in the control device 100.
Further, after the work of the work device W, the work run of the agricultural work robot 1 is restarted after a predetermined time, and the work distance is measured by the work distance sensor 2s.
The work distance sensors 2s are provided on the left and right rear wheels 2b and 2b so that the left and right rear wheels 2b and 2b do not receive driving force from the left and right traveling motors 4a and 4a, and the work rails R and R are provided. This is because when the left and right rear wheels 2b and 2b do not touch the ground, the working distance sensor 2s does not detect the rotation, and it is determined that the movement to the moving passage F has started. On the contrary, when the left and right rear wheels 2b and 2b touch the work rails R and R and rotate, it can be determined that the work has started.

As a result, each detection range D1, D2, D3 of the objective detection member S can be changed at an appropriate timing, so that the agricultural robot 1 may be damaged by contact with an obstacle or work without moving from the place. Is prevented from being interrupted, and the work is prevented from being interrupted by erroneously detecting the foliage and the like and stopping or retreating.

(Moving travel)
As shown in FIGS. 11 and 12, a sign curtain M is provided at the entrance / exit of each work passage L, and the work distance sensor is in a state where the objective detection member S detects the sign curtain M in the detection range D3 during the transition running. When the rotation detection of 2s is stopped, the moving distance sensors 3s and 3s start measuring the moving distance of the traveling device T by the road traveling wheels 3a and 3a from the time when the vehicle goes out to the moving passage F from the exit of the cultivation strip, and the predetermined distance is measured. Labor can be saved because the vehicle body sometimes turns and faces the moving direction, and can move autonomously by measuring the distance toward the next cultivation line.

Further, as shown in FIG. 12, the distance between the cultivation rows is determined at the stage when the cultivation shelves and the left and right work rails R and R are installed. Therefore, by recording this distance information in the control device 100, the left and right work rails R, R are installed. The farm work robot 1 can be turned at a fixed position according to the moving distance detected by the moving distance sensors 3s and 3s. As a result, the agricultural work robot 1 can be turned at the stage where it has completely moved from the work rails R and R to the moving passage F, and the moving passage F can be made to go straight toward the next cultivation shelf. Since it is possible to turn the work rails R and R laid along the cultivation shelf at a position where they can go straight and enter, it is possible to prevent the work from being interrupted due to the inability to move to the work rails R and R. At the same time, the agricultural work robot 1 can be smoothly moved to the work rails R and R, and the work efficiency is improved.

Depending on the work of the agricultural work robot 1, the work may be performed only on a predetermined cultivation shelf among a plurality of cultivation shelves installed in the left-right direction along the moving passage, but as shown in FIG. 13, the work is currently in progress. If the number of the cultivation shelf is "1" and this "1" is subtracted from the number of the cultivation shelf to be worked on next, the number of cultivation shelves that the agricultural work robot passes through before arriving at the cultivation shelf to be worked on next. Can be calculated.

As an example, assuming that the number of the cultivation shelf to be worked on next is "5", the number of cultivation shelves until the agricultural work robot 1 turns is "5-1" = 4. Therefore, when the objective detection member S detects the sign curtain M four times in the detection range D3, the control device 100 turns the agricultural work robot 1.

Alternatively, as shown in FIG. 14, since the left-right distance between the cultivation shelves is constant, if the number of the cultivation shelf currently being worked on is "1", this "1" is subtracted from the number of the cultivation shelf to be worked on next. Multiply the subtracted number by the left-right spacing to calculate the distance to move.

As an example, if the left-right distance between the cultivation shelves is "3 meters" and the number of the cultivation shelves to be worked on next is "5", the distance until the agricultural work robot 1 turns is "5-1" x "3". "=" 4 "x" 3 "= 12 meters. Therefore, when the left and right movement distance sensors 3s and 3s detect the movement of 12 meters, the control device 100 turns the farm work robot 1.

As a result, the control for moving the agricultural work robot 1 to the cultivation shelf for the next work can be simplified, and it is not necessary to separately provide a sensor or the like only for recognizing the turning position, and the configuration of the agricultural work robot 1 is simple. Be transformed.

The traveling wheels of the moving passage F are driving wheels 3a and 3a that are driven independently on the left and right, and a pair of traveling motors 4a and 4a and moving distance sensors 3s and 3s are provided on the left and right. Further, caster-type training wheels 3b and 3b that can idle according to the turning of the traveling device T of the agricultural work robot 1 are provided.

As shown in FIGS. 13 and 14, when the work distance sensor 2s no longer detects the rotation of the rear wheels 2b and 2b and the control device 100 determines that the agricultural work robot 1 has come out of the work passage L, the left and right traveling motors 4a Of 4a and 4a, the agricultural work robot 1 is configured to rotate on the spot by rotating the outside of the rotation in the forward direction and reversing the inside of the rotation. At this time, when it is determined by the detection of the rotation speeds of the moving distance sensors 3s and 3s that the agricultural work robot 1 has turned 90 degrees, the left and right traveling motors 4a and 4a are temporarily stopped to stop the turning. After that, when a predetermined time (eg, 3 to 5 seconds) elapses, both the left and right traveling motors 4a and 4a are rotated in the normal direction to advance the agricultural work robot 1.

By rotating the left and right traveling motors 4a and 4a in different directions during turning, the turning radius of the agricultural work robot 1 can be reduced, so that even in a place where the distance between the cultivation shelf and the wall of the cultivation facility is narrow, the wall The agricultural work robot 1 is prevented from coming into contact with the cultivation shelf, and the turning running is not hindered, so that the work efficiency is improved.

Further, since the caster type auxiliary wheels 3b and 3b can be steered, the turning radius can be further reduced.
In a work environment where the distance between the cultivation shelf and the wall is wide and there is no problem in turning even if the turning radius is large, the traveling motor 4a on the outside of the turning is rotated in the normal direction, and the traveling motor 4a on the inside of the turning is stopped for turning. You may.

(brush)
The traveling device T has a work rail R by arranging brushes 11 and 11 on the front sides of the left and right drive wheels 2a and 2a, respectively, as shown in FIG. 4 for a perspective view (a) and a plan view (b) of the main part. , Since it is possible to travel while removing leaves and soil on the R, slipping of the agricultural work robot 1 is prevented, the mileage by the work distance sensor 2s is prevented from being different from the actual mileage, and stable traveling is possible. It will be possible. Further, it is not necessary to manually clean the work rails R and R before starting the work of the agricultural work robot 1, and the time and labor required for the work are reduced.

By fixing the left and right brushes 11 and 11 to the front side of the traveling portion drive wheels 2a and 2a with knob bolts or the like, the brushes can be easily cleaned and replaced. Further, by making the mounting portion a long hole in the vertical direction, the vertical position can be adjusted according to the degree of wear, so that it can be used for a long period of time.

Further, the left and right brushes 11 and 11 are arranged in an inclined posture toward the outside of the machine toward the rear side of the machine with respect to the front wheels 2a in a plan view, thereby guiding the foliage and the like on the work rails R and R to the outside of the machine. Therefore, the foliage can be swept out to the side of the work rails R and R without being dragged by the brushes 11 and 11, and debris and juice from the foliage can be prevented from adhering to the work rails R and R.

(Rail end)
As shown in FIG. 5 for a perspective view of the rail end portion, a end detection sensor 12 for work rails R and R and a lever type limit switch 13 are provided at the front end portion of the machine body, and work is performed in addition to the end plate 12a on the ground side. When the end is detected by detecting the stopper 13a provided on the rail R, the control device 100 reverses the left and right traveling motors 4a and 4a and controls the agricultural work robot 1 to move backward, so that the end plate 12a is tilted or Even if it falls down, it is prevented that the agricultural work robot 1 remains stopped at the end of the work rails R and R, and the work is performed efficiently.
Further, since the agricultural work robot 1 can be prevented from falling off from the work rails R and R, the agricultural work robot 1 can be prevented from being damaged.

The work by the agricultural work robot 1 and the work device W is performed not only over the entire length of the cultivation shelf, but also only over a predetermined range of the cultivation shelf (eg, half of the total length, one quarter of the total length, etc.). Since the stopper 13a may be attached to and detached from the work rails R and R with magnets, bolts, etc., the position where the agricultural work robot 1 retracts can be determined by attaching the stopper 13a to a predetermined position. The configuration is as follows.

Alternatively, as shown in FIG. 12, the length from the start end to the end of the work rails R and R is information known at the time of laying, so this length is recorded in the control device 100 and the work distance sensor is recorded. When 2s moves by the length of the work rail R or a distance slightly shorter than the total length of the work rail R (example: -50 to -80 cm), the control device 100 reverses the left and right traveling motors 4a and 4a for agriculture. The robot 1 may be retracted and moved to the starting end side of the work rails R, R, that is, to the moving passage F side.

If the terminal side of the work passage L is a passage in a direction orthogonal to the work passage L as in the moving passage F, the traveling device T of the agricultural work robot 1 is assumed to come out from the terminal portions of the work rails R and R. However, since the left and right drive wheels 3a and 3a and the caster type auxiliary wheels 3b and 3b are in contact with each other, there is no risk of falling. When the agricultural work robot 1 is completely separated from the work rails R and R, the left and right rear wheels 2b and 2b do not rotate, and the detection of the work distance sensor 2s stops.
Utilizing this, when the agricultural work robot 1 overruns from the work rails R, R, a method of returning to the work rails R, R will be described with reference to the flowchart of FIG.

When the agricultural work robot 1 moves on the work rails R and R, the control device 100 causes the work distance sensor 2s to rotate forward (outward path from the start side to the end side of the work rails R and R) and reverse (return to the start side). It detects which direction it is rotating on the return route), determines that it is moving on the outward route while the normal rotation is continued, and determines that it has shifted to the return route when a reverse rotation is detected. At this time, if the detection of the working distance sensor 2s is stopped without detecting the reversal, the control device 100 determines that the agricultural work robot 1 has overrun from the terminal side of the work rails R and R.

As a result, the control device 100 switches the left and right traveling motors 4a and 4a to reverse, causes the agricultural work robot 1 to travel backward, and moves it to the work rails R and R sides. Then, when the left and right rear wheels 2b and 2b touch the work rails R and R and the working distance sensor 2s detects a reverse rotation, the control device 100 detects the end of the end detection sensor 12 or the lever type limit switch 13. Similarly, it is determined that the movement has been switched to the return route on the work rails R and R.

At this time, the control device 100 records the time required from when the working distance sensor 2s stops the detection in the normal rotation to when the detection in the reverse rotation is started together with the number of the cultivation shelf, and the occurrence of overrun occurs. It may be recorded at what position it occurred during work.

As described above, even if the end detection sensor 12 and the lever type limit switch 13 are not functioning, the overrun agricultural work robot 1 can be automatically returned to the work rails R and R, so that the work of the agricultural work robot 1 can be performed. The automatic work by the device W is not interrupted, and the work efficiency is improved.
Further, the work of returning the overrun agricultural work robot 1 to the work rails R and R becomes unnecessary, and the labor of the worker is reduced.

Further, when the rail end detection sensor 12 and the lever type limit switch 13 are provided at the front part of the machine body and the lever type limit switch stopper 13b is arranged in front of the wheel 2a, the lever type limit switch 13 becomes the wheel 2a and the rail stopper 13a. Since it is possible to prevent the product from being pinched and damaged, it is not necessary to replace the parts, the work cost is reduced, and the agricultural work robot 1 is prevented from falling off from the work rails R and R.

(Transmission system)
As described above, the traveling device T is provided with front wheels 2a and 2a which are rail traveling wheels, driving wheels 3a and 3a which are traveling wheels on the road, and traveling motors 4a and 4a which independently drive the traveling wheels on the road, and can be forward and reverse respectively. It is configured in. In this way, by using separate running members for work running and moving running, it is possible to run suitable for each specified location, so that movement becomes smooth and excessive vibration is less likely to occur. The device W is less likely to shake, improving work efficiency and work accuracy. In addition, the degree of freedom is improved by the turning operation, and the rail traveling wheels and the road traveling wheels are driven by the left and right moving traveling motors, so that the configuration is simplified.

(Turning position in the moving passage)
As shown in FIG. 13, the objective detection member S detects the sign curtain M by detecting the entrance / exit of the work passage L, and the left and right rear wheels 2b and 2b are separated from the work rails R and R, and the work distance sensor 2s rotates. When it is no longer detected, the left and right moving mileage sensors 3s and 3s detect the rotation of the left and right drive wheels 3a and 3a to measure the moving distance, and when the moving distance reaches a predetermined distance, the traveling motor 4a on the outside of the turn is positive. By reversing the traveling motor 4a on the inside of turning and turning to turn the machine, it is possible to turn the body at a position separated from the doorway by a predetermined distance.

As a result, the agricultural work robot 1 can move to the moving passage F without touching the cultivation shelf when turning, so that the agricultural work robot 1 is prevented from being damaged and the movement from the work rails R and R to the moving passage F is smooth. Because it is done, work efficiency is improved.

(Ground height)
As shown in FIGS. 1 to 3, the drive wheels 3a and 3a on the moving passage F are configured to be in contact with the ground below the front wheels 2a and the rear wheels 2b, which are rail traveling wheels, and follow the work rails R and R forward. By providing the left and right guide rollers 2c and 2c, it is possible to turn on the road without being affected by the front wheels 2a and the rear wheels 2b, so that the direction of travel can be easily directed straight ahead, the time required for movement can be suppressed, and the work can be performed. Efficiency is improved.

(Rail guide)
As shown in FIGS. 2 and 3, the left and right guide rollers 2c and 2c are provided via the inner urging springs 2d and 2d so that the position where the agricultural work robot 1 enters the work rails R and R is the work rail. Even if the left and right guide rollers 2c and 2c are slightly displaced from R and R in the left-right direction, when the left and right guide rollers 2c and 2c come into contact with the outer surfaces of the work rails R and R, the inner urging springs 2d and 2d contract and the left and right guide rollers Since the left-right distance between 2c and 2c is widened and the agricultural work robot 1 can be moved to a position where it can be placed on the work rails R and R, the rail entry of the agricultural work robot 1 becomes smooth by automatic adjustment.

Further, after the agricultural work robot 1 is mounted on the work rails R and R, the left and right guide rollers 2c and 2c are pressed against the work rails R and R by the inner biasing springs 2d and 2d, so that the agricultural work robot 1 is pressed against the work rails R and R. Since not only the 2a and the rear wheels 2b and 2b but also the left and right guide rollers 2c and 2c touch the work rails R and R, the traveling posture is stabilized and the work accuracy of the work device W is improved.

(Turning position when heading to the work rail)
As shown in FIG. 13, when the agricultural work robot 1 exits the work passage L, turns, moves the moving passage F by a predetermined distance, and enters the rails R, R of the work passage L of the cultivation shelf for the next work. When the moving distance of F on the moving passage detected by the left and right moving distance sensors 3s and 3s reaches a predetermined distance, the control device 100 rotates the traveling motor 4a on the outer side of the turning forward and reverses the traveling motor 4a on the inner side of the turning. The agricultural work robot 1 is directed toward the work passage L side. Then, when the left and right movement distance sensors 3s and 3s detect that the agricultural work robot 1 has turned 90 degrees, the left and right traveling motors 4a and 4a are stopped, and when a predetermined time (example: 5 to 10 seconds) elapses after the stop. By rotating the left and right traveling motors 4a and 4a in the normal direction, the agricultural work robot 1 can be moved toward the work rails R and R of the next work passage L.
It should be noted that the outside of the turn at the time of turning is the outside of the turn on the side far from the work passage L and the inside of the turn on the side close to the work passage L, with reference to the straight running work along the moving passage F.

The sign curtain M is also provided on the surface of the cultivation shelf on the moving passage F side, and the objective detecting member S during the moving travel detects the detection range D3 during the transition traveling, that is, the side of the aircraft, and the moving distance sensor 3s. When the 3s detects the movement of a predetermined distance and the sign curtain M is detected on the side of the body of the objective detection member S, the control device 100 may make a turning operation.

The agricultural work robot 1 of the present invention is often used in a cultivation facility in which a plurality of cultivation shelves are installed in a direction orthogonal to the moving passage F and a work passage L is formed on the side of the cultivation shelves. Then, as shown in FIG. 8, these work passages L may be provided not only on one side of the moving passage F but also on the other side. These one side and the other side are defined as the left-right direction.

The agricultural work robot 1 working in the cultivation facility needs to turn both left and right with respect to the moving passage F when heading from the moving passage F to the working passage L. When the cultivation shelves to be worked are on both the left and right sides, the number of the cultivation shelves to be worked on and the cultivation shelf on the right side or the left side are determined by the control device 100 to determine which side to turn from the moving passage F to the left or right. If this is recorded, the objective detection member S detects the detection range D3 in the left-right direction while traveling in the moving passage F, and when the sign curtain M is detected a set number of times, the rotation directions of the left and right traveling motors 4a and 4a are detected. Can be determined by controlling.

When working in order from the start end side of the moving passage F (the work start position of the agricultural work robot 1) toward the end side, the rear wheels 2b and 2b are from the start end side of the work rails R and R corresponding to the last cultivation shelf. Is separated and the working distance sensor 2s is in the non-detection state, and when the objective detection member S detects the sign curtain M and then turns, the traveling motor 4a on the start end side of the moving passage F is reversed, and the traveling motor 4a on the ending side is reversed. The farm work robot 1 can be automatically returned to the work start position by controlling the movement of the farm work robot 1 from the end side to the start side by rotating the robot 1 in the normal direction.

This eliminates the need for the worker to move the farm work robot 1, and reduces the labor of the worker. Further, if the time for the agricultural work robot 1 to start the work is set in the timer of the control device 100, the agricultural work robot 1 automatically moves from the work start position on the start end side to perform the work at the predetermined time. Unmanned work is planned.

In the above work order, the work is performed in the left and right work passages L in the outward route of the moving passage F, and the return route returns without performing the work. However, the program incorporated in the control device 100 is used for the work on one side of the left and right in the outward route. The work may be performed in the passage L, and the work may be performed in the work passage L on the left and right sides on the return route.

When the work is performed in the last work passage L on the left and right sides, the control device 100 reverses the traveling motor 4a on the start end side of the moving passage F and rotates the traveling motor 4a on the ending side in the forward direction to rotate the agricultural work robot 1. , Switch to the return trip. Then, when the agricultural work robot 1 travels a predetermined distance, it turns toward the work passage L on the left and right other sides, and when the work in the last work passage L is completed, it turns and returns to the work start position on the start end side.

It should be noted that this control uses the control shown in the flowchart of FIG.
As a result, the turning direction can be unified between the outward route and the returning route, so that the turning position is less likely to be disturbed, the time required for moving and traveling is suppressed, and the work efficiency is improved. Further, it is prevented that the agricultural work robot 1 cannot enter the work passage L and the work is interrupted.

(Auxiliary guide)
Auxiliary guide members are provided at two locations on the left and right within the winding range of the work transmission chains 4c and 4c, which are the work transmission mechanisms, between the front and rear wheels 2a and the drive wheels 3, and between the front and rear wheels 2b and the drive wheels 3. 2e and 2e are provided. The auxiliary guide members 2e and 2e are configured such that the outer end portions are located between the front wheels 2a, the rear wheels 2b and the drive wheels 3a in a plan view.

By bringing the auxiliary guide members 2e and 2e into the winding area of the work transmission chains 4c and 4c, the slack of the work transmission chains 4c and 4c can be suppressed, so that the transmission of the traveling motors 4a and 4a is normally transmitted. It is prevented from stopping without running, and a decrease in work efficiency is prevented.

Further, the outer ends of the auxiliary guide members 2e and 2e are bent downward toward the machine body so as to face the outside of the left and right work rails R and R. As a result, even if the agricultural work robot 1 vibrates, it is possible to prevent the posture from being significantly disturbed, so that the work efficiency and work accuracy are improved.

(Working equipment)
The work device W can be detachably mounted on the upper part of the traveling device T via a fixing member such as a bolt, so that the traveling machine body can be shared. Since the working device W works on the plants cultivated on the cultivation shelf, a common traveling device T can be used. As a result, it is not necessary to prepare the agricultural work robot 1 in which the traveling device T and the work device W are inseparably integrated for each work, and the work cost can be reduced.

(Work record)
A work operation program that determines the position to operate the work device W is incorporated in the control device 100, and the work mileage measured by the work distance sensor 2s and the movement mileage measured by the movement distance sensors 3s and 3s are obtained from the aircraft. By acquiring the position information and recording the position information in association with the work information of the work device W, it is possible to easily confirm the result of the execution work for each work position in the work place.

For example, in the work passage L, when the work positions of the first row A are divided into ten places, the position information is set as A1 to A10, and the work contents performed in A1 and the work performed in A2 are set. Record the contents ... separately. The individual position information is created by the control device 100 by combining the work position information from the start of the measurement by the work distance sensor 2s to the end of the measurement with the work content information executed by the work device W.

When the working device W is a crop harvesting device, "A1: yield 10.5 kg, crop average size L" "A2: yield 8.7 kg, crop average size M" "A3: yield 8.8 kg, crop average" Record "Size M" ... This makes it easier to judge the growth state and harvest result of the crop for each predetermined range, so it is easier to understand the improvement points of the plant cultivation method, streamline the cultivation work from the next time onward, and the quality and yield of the cultivated crop. Will be increased.

If the agricultural work robot 1 is provided with a GPS receiving device (not shown), the work information is linked to the GPS coordinates, and the control device 100 records the position information, it is possible to acquire more detailed information on plant cultivation. Become.

(Recorded information)
In addition to the above, as shown in FIG. 18, the traveling device T is provided with a record information storage device in which position information and work information are associated with each other, and an identification name is given to the record by an identification name assigning program. By adding it to the record, it is possible to analyze the work position, work content and the result.

For example, as shown in FIG. 8 which is a plan view of a cultivation shelf configuration example in the work area, a work robot has a work passage L ... Provided between cultivation shelves having a plurality of shelf sections and a moving passage F connected to these. For work such as photosynthesis, pollination, pests, and control, work is performed according to the lane number (example: 1 to 10) of the cultivation shelf and the shelf division number (example: AK). An identification name is given to the record by associating the content and the date and time of work.

In addition, by incorporating a date and time program, time information is associated with the record to be saved, and the work place such as the house number and the position information and date and time in the work place are used as the identification name of the record, so that the specific work place is specified. The work date and time can be easily grasped, and detailed analysis makes it possible to improve work efficiency and accuracy.

As an example, the file name attached to the record includes the date and time when the work was performed (example: April 1, 2016 0:34:56 = 20160401123456) and a code indicating the work content (example: diagnostic work = 01). , Harvesting work = 02, Control work = 03), cultivation shelf lane number (example: 1 to 10), and shelf division number (example: AK) are assigned, and a record that associates position information and work information. However, it is assumed that when and what kind of work was performed and where it was performed can be recognized from the file name.

The above date and time are acquired from the clock function built in the control device 100, and the work content code is acquired from the work device W mounted on the traveling device T. When the work device W has a plurality of functions, a code may be separately assigned according to the executed work.
Further, a code (eg, normal = N, abnormality: E) for identifying whether the work has been performed normally or an abnormality has occurred in the middle may be added.
The order of the information given to the file name can be freely set in an order that is easy for the operator to grasp on the operation panel (not shown) of the control device 100, a tablet terminal capable of communicating, or the like.

(Guard plate)
As shown in FIG. 6, side views (a) and front views (b) of the traveling portion are attached to the left and right side surface portions of the traveling device T to hang from the cultivation shelf by attaching guard plates 21 and 21 for crop protection. It is possible to run the work without damaging the stems.

As shown in FIG. 7 for an exploded perspective view (a) and a partial cross-sectional view (b) of the main part, the mounting portion has stepped pins 22 and 22 mounted on the inner portions of the guard plates 21 and 21, and the difference on the traveling device side. By detachably attaching to the insertion holes 23 and 23, it can be removed as needed, and maintenance such as cleaning becomes easy.

(Technical significance)
The technical significance of the agricultural work robot having the above configuration is as follows.
The agricultural work robot is provided with a running state determining means for determining whether the traveling device T is in working or moving, and an objective detecting member S for detecting the presence or absence of an object in front of the machine body so that the left and right detection widths can be switched. When the traveling state determining means determines the work traveling, the detection range of the objective detection member S is narrowed, and when the traveling traveling is determined, the detection range is widened, and when the objective detecting member S is detected, the traveling device T is set. By configuring the control device so that it can be stopped or retracted, the traveling device T and the working device W are on the path by providing the operation control in which the traveling device T stops or retracts when the objective detection member S detects an object in front. It is possible to prevent the object from being damaged by contact with the object.

In this case, since the width of the front detection range of the objective detection means is narrowed during work traveling, even if a structure such as a crop cultivation strip or a pedestal for cultivation is close to the work passage, the objective detection member S detects it. Therefore, unnecessary stoppage of running is prevented and work efficiency is improved.

Then, by widening the detection range of the objective detection member S during moving travel, it is possible to reliably detect an object around the moving passage outside the crop cultivation line and perform corresponding traveling. Damage to the working device W is prevented.

Further, the traveling device T includes a working traveling member 2 for traveling on the left and right work rails R and R of the work passage L, and the working traveling member 2 is a front wheel 2a which is a driving traveling body and a driven traveling body. It is composed of a certain rear wheel 2b, the rotation of the rear wheel 2b is detected by the working distance sensor 2s, and the working mileage is measured from this detected amount to determine whether or not the working mileage is in progress. Since it can be done, it becomes possible to distinguish between work running and moving running.

Further, the traveling device T includes drive wheels 3a and 3a which are moving traveling members 3 for traveling in the moving passage F, and the driving of the driving wheels 3a and 3a is detected by the moving distance sensor 3s, and the driving distance sensor 3s is used to detect the driving of the driving wheels 3a and 3a. Measure the distance traveled. Further, a sign curtain M, which is an entrance / exit sign member that can be detected by the objective detection member S, is provided at the entrance / exit of the work passage L, and the control device 100 detects the sign curtain M by the objective detection member S, and the working distance sensor 2s. When the work travel distance is no longer detected, the travel distance sensors 3s and 3s start measuring the travel distance of the travel device T, and when the travel distance reaches a predetermined value, the travel device T heads for the next crop cultivation line. When the objective detection member S detects the marker curtain M and the work distance sensor 2s stops measuring the mileage and then the travel device T moves and travels a predetermined distance by controlling the movement and travel, the agricultural work robot 1 Since the sensor moves toward the next crop cultivation row, it can be autonomously moved to the next crop cultivation row, so that it is not necessary to manually move the agricultural work robot 1 and labor saving is achieved.

When the work distance sensor 2s stops measuring the work mileage, the work distance sensor 2s moves toward the next crop cultivation row based on the movement mileage measured by the movement distance sensors 3s and 3s, thereby moving to an appropriate position. be able to.

Further, the drive wheels 3a and 3a3 are configured so that the left and right pairs can move forward and backward and the moving distance can be measured, and caster type auxiliary wheels 3b and 3b capable of freely idling and supporting the front and rear positions thereof are provided. The control device 100 causes the left and right drive wheels 3a and 3a to move in opposite directions when the left and right movement distance sensors 3s and 3s measure a predetermined movement distance after the objective detection member S detects the sign curtain M. Therefore, by controlling the operation of the left and right traveling motors 4a and 4a in different directions to rotate the traveling device T, the traveling device T can be rotated around the midpoint between the left and right drive wheels 3a and 3a. The turning radius is kept small, and the agricultural work robot 1 is prevented from coming into contact with the crop cultivation shelf or the like during the turning traveling.

Further, since the caster type auxiliary wheels 3b and 3b freely idle and support in accordance with the turning, the traveling device T can be smoothly turned, so that the turning locus is not disturbed and the turning radius is prevented from becoming large. The radius.

Further, the objective detection member S includes a front region for detecting the presence or absence of an object in front of the traveling device T, a lateral region for detecting a marking member on the side of the traveling device T, and an object diagonally in front of the traveling device T. The control device has a front diagonal region for detecting the presence / absence, and the control device is configured to detect the front diagonal region when the traveling state determining means determines the moving travel, so that the objective detection member S is on the front region and the side. By having the square region and the forward oblique region as the detection range, it is not necessary to provide a plurality of objective detection members S, and the configuration can be simplified and the weight can be reduced by reducing the number of parts.
Further, when the traveling state determining means determines the moving traveling, the front oblique region is detected, so that false detection during the working traveling is prevented and the working efficiency is improved.

Furthermore, the traveling device T having the following technical significance includes a working traveling member 2 for work traveling, a moving traveling member 3 for mobile traveling, traveling motors 4a and 4a capable of forward / reverse control, and the traveling thereof. The moving transmission mechanisms 4b and 4b and the work transmission mechanisms 4c and 4c that are transmitted from the motors 4a and 4a to the working traveling member 2 via the driving wheels 3a and 3a that are the moving traveling members 3 can be independently controlled in forward and reverse directions. By doing so, the work running and the moving running are performed by the front wheels 2a, the rear wheels 2b, and the drive wheels 3a, which are different from each other, so that the running can be performed in a place suitable for the place to be run, so that the running posture is stable and the work efficiency and work accuracy are improved. improves.

The left and right traveling motors 4a and 4a can rotate the traveling device T by dividing the front wheels 2a, the rear wheels 2b and the driving wheels 3a into left and right so as to be able to reversely operate each other, so that the degree of freedom of traveling is increased. improves.

Further, it is divided into left and right and transmitted from the traveling motors 4a and 4a to the drive wheels 3a and 3a via the moving transmission mechanisms 4b and 4b, and the left and right drive wheels 3a and 3a correspond to each other via the work transmission mechanisms 4c and 4c, respectively. By transmitting to the front wheels 2a and 2a on the side of the vehicle, the left and right front wheels 2a, rear wheels 2b and drive wheels 3a can be driven by the left and right traveling motors 4a and 4a, so that the number of parts can be reduced.

Further, the ground contact height positions of the left and right drive wheels 3a and 3a are set to be lower than the ground contact height positions of the left and right front wheels 2a and the rear wheels 2b, and the traveling device T is placed on the front side of the left and right front wheels 2a and 2a. Since the left and right guide rollers 2c and 2c that can guide the work rails R and R are provided, the left and right front wheels 2a and the left and right drive wheels 3a and 3a below the rear wheels 2b touch the ground in the moving passage F. As a result, the left and right front wheels 2a and rear wheels 2b and the left and right drive wheels 3a and 3a do not touch the ground at the same time. Therefore, when the left and right drive wheels 3a and 3a make a turning run, the front wheels 2a and the rear wheels 2b touch the ground and the turning locus. Is prevented from being disturbed.

Further, by providing the inner urging springs 2d and 2d that urge the left and right guide rollers 2c and 2c inward, the guide rollers 2c and 2c in contact with the work rails R and R can move to the outside of the machine body. Therefore, the approach position of the traveling device T with respect to the work rails R and R is automatically adjusted, and the agricultural work robot 1 is prevented from being mounted on the work rails R and R and the work being interrupted.

Further, a working distance sensor 2s for measuring the working mileage due to the operation of the left and right rear wheels 2b and 2b is provided on the rear wheel axle 2g, and the moving distance sensor 3s and 3s for measuring the moving mileage due to the operation of the drive wheels 3a and 3a. Are provided on the front wheel axles 2f and 2f, and when the moving mileage by the moving distance sensors 3s and 3s from when the working distance sensor 2s stops measuring the working mileage reaches a predetermined distance, the left and right traveling motors 4a and 4a travel. By turning and controlling the device T, it is possible to determine whether or not the traveling device T is working and traveling along the work rails R and R. Therefore, the traveling device T is based on the distance measured by the moving distance sensors 3s and 3s. Can be turned.

Further, the working distance sensor 2s is configured by providing the traveling device T with left and right rear wheels 2b and 2b that rotate according to the working travel amount, and the working distance sensor 2s detects the rotation of the rear wheel axle 2g and travels. By measuring the distance, it is possible to end the measurement of the work mileage at the same time as the work mileage ends, so that the timing at which the movement distance sensors 3s and 3s start measuring the movement mileage is prevented from being disturbed, and the travel device The optimization of the turning position of T is measured.

Further, the objective detection member S for detecting the entrance / exit of the crop cultivation strip is provided on the front side of the machine body with respect to the left and right front wheels 2a and the rear wheel 2b, and the left and right movement distances for measuring the movement distance from the operation of the left and right drive wheels 3a and 3a Sensors 3s and 3s are provided respectively, and when the objective detection member S detects the entrance and exit of the crop cultivation row, the left and right moving distance sensors 3s and 3s are made to measure the moving mileage, and when the predetermined distance is reached, the left and right traveling motors 4a and 4a are used. By controlling the turning of the traveling device, it is possible to turn at an appropriate position by turning the traveling device after detecting the entrance / exit of the crop cultivation strip and then moving and traveling a predetermined distance.

Further, the left and right work transmission mechanisms 4c and 4c are composed of chain winding members, and auxiliary guide members 2e and 2e that come into contact with the work rails R and R within these left and right chain winding regions to stabilize the posture of the traveling device T. By providing the above, it is possible to prevent the working posture of the working device W from being disturbed due to vibration of the traveling device T or the like, so that the working efficiency and working accuracy of the working device W are improved.

Further, since the auxiliary guide members 2e and 2e are provided in the chain winding area of the work transmission mechanisms 4c and 4c, the auxiliary guide members 2e can suppress the slack of the chain, so that the running is stopped unnecessarily during the work running. Is prevented from occurring.

Further, since the working device W is detachably provided on the traveling device T, the same traveling device T can be used even for different operations, so that it is not necessary to prepare the traveling device T for each working device W. The work cost can be reduced.

In addition, a selection work program for performing work on the selected crop cultivation row is incorporated into the control device, and the traveling device T is moved and controlled to the selected crop cultivation row based on the moving mileage measured by the moving distance sensors 3s and 3s. As a result, the traveling device T can be moved and controlled to perform the work only on the selected crop cultivation strip, and the work device W can be prevented from performing unnecessary work, so that the work efficiency is improved.

Further, a work operation program for determining the position to operate the work device W is incorporated in the control device, and the travel device W is obtained from the work mileage measured by the work distance sensor 2s and the movement mileage measured by the movement distance sensor 3s. By acquiring the position information of the work device W and recording the position information in association with the work information of the work device W, it is possible to easily confirm what kind of work was performed at which position in the work place.

In addition, an information storage device that stores records that associate location information and work information is provided, and an identification name assignment program that assigns identification names to the stored records is incorporated into the control device, and when the records are saved, it is based on the location information. By assigning the identification name to the record, it is possible to analyze what kind of work was performed at what position and what kind of result was obtained. Therefore, the optimization of work using another work device W is shown. Therefore, it is possible to improve work efficiency and accuracy, and by judging the problems of current crop cultivation for each work position, it is possible to improve the current or subsequent cultivation method. The quality of cultivated crops is improved.

In addition, the date and time program is built into the control device, and the date and time information is associated with the record to be saved. The control device sets the "identification name of the work area", "position information in the work area", and "date and time" as the identification name of the record. By using it, it is possible to easily grasp the specific work place and the date and time when the work was performed, so that the work contents can be analyzed in more detail, and the work efficiency and accuracy can be improved. ..

1 Agricultural work robot 2 Work traveling member 2b Traveling rotating member (driven traveling body)
2c Guide roller 2d Biasing member 2e Auxiliary guide member 2s Working distance sensor 3 Moving distance sensor 3s Moving distance sensor 4a Drive member 4b Moving transmission mechanism 4c Work transmission mechanism F Moving passage L Work passage R Work rail S Objective detection member T Traveling device W work equipment

Claims (10)

A traveling device (T) that performs both work traveling in the work passage (L) along the crop cultivation row and moving travel in the moving passage (F) leading to the work passage (L) along another crop cultivation row, and the crop cultivation row. In an agricultural work robot equipped with a work device (W) for performing work on crops,
The traveling device (T) includes the left and right working traveling members (2) for working traveling, the moving traveling member (3) for mobile traveling, and drive members (4a, 4a) capable of forward / reverse control independently on the left and right. ), Left and right moving transmission mechanisms (4b, 4b) and left and right work that are transmitted from the left and right driving members (4a, 4a) to the working traveling member (2) via the moving traveling member (3). The feature is that the transmission mechanism (4c, 4c) is configured to be able to control forward and reverse independently on the left and right , and
The ground contact height position of the left and right moving traveling members (3) is configured to be lower than the ground contact height position of the left and right working traveling members (2).
A working distance sensor (2s) for measuring the working mileage due to the operation of the left and right working traveling members (2) is provided, and a moving distance sensor (3s) for measuring the moving mileage due to the operation of the moving traveling member (3) is provided. When the moving mileage by the moving distance sensor (3s) from the time when the working distance sensor (2s) stops measuring the working mileage reaches a predetermined distance, the left and right driving members (4a, 4a) are used. An agricultural work robot characterized by turning and controlling a traveling device (T) . Before SL left and right working traveling member (2) of the traveling device on the body front side (T) of the working rail (R, R) the guidable left and right guide rollers (2c, 2c) and provided, the left and right guide rollers ( The agricultural work robot according to claim 1, wherein an urging member (2d, 2d) for urging 2c, 2c) inward is provided . The working distance sensor (2s) is configured by providing left and right traveling rotating members (2b) that rotate according to the working traveling amount in the traveling device (T), and measures the working traveling distance by the rotation of the traveling rotating member. The agricultural work robot according to claim 1 or 2 , wherein the robot is characterized by A traveling device (T) that performs both work traveling in the work passage (L) along the crop cultivation row and moving travel in the moving passage (F) leading to the work passage (L) along another crop cultivation row, and the crop cultivation row. In an agricultural work robot equipped with a work device (W) for performing work on crops,
The traveling device (T) includes the left and right working traveling members (2) for working traveling, the moving traveling member (3) for mobile traveling, and drive members (4a, 4a) capable of forward / reverse control independently on the left and right. ), Left and right moving transmission mechanisms (4b, 4b) and left and right work that are transmitted from the left and right driving members (4a, 4a) to the working traveling member (2) via the moving traveling member (3). The feature is that the transmission mechanism (4c, 4c) is configured to be able to control forward and reverse independently on the left and right, and
The ground contact height position of the left and right moving traveling members (3) is configured to be lower than the ground contact height position of the left and right working traveling members (2).
An objective detection member (S) for detecting the entrance / exit of the crop cultivation strip is provided on the front side of the machine body with respect to the left and right working traveling members (2), and the moving traveling distance is measured from the operation of the left and right moving traveling members (3). Left and right movement distance sensors (3s, 3s) are provided respectively, and when the objective detection member (S) detects the entrance / exit of the crop cultivation strip, the left and right movement distance sensors (3s, 3s) are made to measure the movement distance, and a predetermined value is obtained. distance the left and right drive member to reach the (4a, 4a) agricultural work robot you characterized in that the turning control of the traveling device by. The left and right work transmission mechanisms (4c, 4c) are composed of chain winding members, and come into contact with the work rails (R, R) within these left and right chain winding regions to stabilize the posture of the traveling device (T). The agricultural work robot according to any one of claims 1 to 4 , wherein an auxiliary guide member (2e) is provided. The agricultural work robot according to any one of claims 1 to 5 , wherein the work device (W) is detachably provided on the traveling device (T). The control device incorporating the selected operation program to perform the work with the selected crop cultivation conditions Therefore, the traveling apparatus to the selected crop cultivation conditions on the basis of the movement travel distance which the travel distance sensor (3s) was measured (T) The agricultural work robot according to any one of claims 1 to 6 , wherein the movement is controlled. A work operation program for determining a position for operating the work device (W) is incorporated into the control device, and the work mileage measured by the work distance sensor (2s) and the movement distance sensor (3s) are measured. The agricultural work robot according to claim 7 , wherein the position information is acquired as the position information of the work device (W) from the moving mileage, and the position information is recorded in association with the work information of the work device (W). An information storage device for storing a record in which the position information and the work information are associated is provided, and an identification name assigning program for assigning an identification name to the stored record is incorporated in the control device, and when the record is stored, the position The agricultural work robot according to claim 8 , wherein an identification name based on information is given to a record. The date and time program is incorporated in the control device, and the date and time information is associated with the record to be saved. The control device uses "identification name of work area", "position information in work area", and "date and time" as the identification name of the record. The agricultural work robot according to claim 9 , wherein the robot is characterized by the above.