Self-propelled work robot

Abstract

A self-propelled work robot (100) is provided with: an operation unit (102) configured so as to be capable of operating in accordance with a plurality of operation modes; a robot main body part (101) provided with the operation part; a traveling unit (105) that causes the robot main body to travel; a target detection unit (110) configured so as to be capable of detecting a predetermined target; and an operation mode switching unit (124) that switches the operation mode of the operation unit in accordance with the detection status of the target by the target detection unit.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is based on Japanese application No. 2022-078208 filed on May 11, 2022, and the contents described therein are cited herein. Technical Field

[0003] The present disclosure relates to a self-propelled working robot. Background Art

[0004] In recent years, for example, a technology for performing operations such as harvesting crops by a self-propelled working robot in a field where crops are grown has been studied. As such a self-propelled working robot, for example, a self-propelled working robot disclosed in Patent Document 1 has a robot arm as a motion unit for performing operations.

[0005] Patent Document 1: Japanese Patent Application Publication No. 2021-101653

[0006] In this self-propelled working robot, it is considered to be configured so that the robot arm that is performing work can be switched to an action permission mode that allows the action and an action restriction mode that restricts the action. Here, for example, in a field, there is a working area set up assuming that the self-propelled working robot will perform the work, and a non-working area set up assuming that the self-propelled working robot will not perform the work. Moreover, in the non-working area, in addition to the self-propelled working robot traveling, there is also the possibility of the presence of humans. Therefore, when the self-propelled working robot is in the non-working area, by reliably switching the robot arm to the action restriction mode, it is possible to prevent the robot arm from unintentionally performing an action and coming into contact with a human, thereby improving safety. Summary of the invention

[0007] Therefore, the present disclosure provides a structure capable of switching the operation mode of the operation unit with high accuracy according to the area where the self-propelled working robot is present.

[0008] In one embodiment of the present disclosure, a self-propelled working robot comprises: an action unit configured to be able to act according to a plurality of action modes; a robot main body provided with the action unit; a driving unit for driving the robot main body; a target detection unit configured to be able to detect a specified target; and an action mode switching unit for switching the action mode of the action unit according to the detection status of the target by the target detection unit.

[0009] According to the self-propelled working robot disclosed in the present invention, the action mode of the action unit can be switched according to the detection status of the target by the target detection unit. Thus, for example, by setting a target in the area where the action mode of the action unit is desired to be switched, the action mode of the action unit can be switched with good accuracy according to the area where the self-propelled working robot exists. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The above-mentioned object and other objects, features and advantages of the present disclosure will become more apparent through the following detailed description with reference to the accompanying drawings.

[0011] Figure 1 is a diagram schematically showing a configuration example of a field according to the first embodiment.

[0012] Figure 2 is a diagram schematically showing a configuration example of a self-propelled working robot according to a first embodiment.

[0013] Figure 3 is a diagram related to the first embodiment, and is a diagram schematically showing an example of a state in which the obstacle detection area is switched to an out-of-lane pattern.

[0014] Figure 4 1 is a diagram related to the first embodiment, and schematically shows an example of a state in which the obstacle detection area is switched to an in-lane pattern.

[0015] Figure 5 is a perspective view schematically showing a configuration example of a hot water pipe detection sensor according to the first embodiment,

[0016] Figure 6 FIG. 1 is a diagram related to the first embodiment, and is a diagram schematically showing an example of a state of the hot water pipe detection sensor in a non-detection state.

[0017] Figure 7 FIG. 1 is a diagram related to the first embodiment, and is a diagram schematically showing an example of a state of the hot water pipe detection sensor in a detection state.

[0018] Figure 8 is a block diagram schematically showing a configuration example of a control device according to the first embodiment.

[0019] Fig. 9 is a diagram according to the first embodiment, and is a diagram showing an example of a correspondence relationship between a detection state of a sensor group and a mode of each unit.

[0020] Fig.10 FIG. 1 is a diagram according to the second embodiment, schematically showing an example of a state where the hot water pipe is not tilted.

[0021] Fig.11 This is a diagram according to the second embodiment, and schematically shows an example of a state in which a hot water pipe is inclined. DETAILED DESCRIPTION

[0022] Hereinafter, a plurality of embodiments of the self-propelled working robot disclosed herein will be described with reference to the accompanying drawings. In addition, substantially the same elements in the plurality of embodiments are denoted by the same reference numerals, and description thereof will be omitted.

[0023] (First Embodiment)

[0024] The self-propelled working robot 100 of the present disclosure can be used, for example, in Figure 1 The illustrated field 10 is used for harvesting crops T. The field 10 may be called a vinyl house or a plant factory. In this case, a plurality of cultivation sections 11, a plurality of hot water pipes 12, a plurality of track lines 13, etc. are provided in the field 10.

[0025] The cultivation sections 11 each have a plurality of cultivation equipment 11a. The cultivation equipment 11a is a device for cultivating the crop T that is the object of harvest of the self-propelled working robot 100. The cultivation equipment 11a is supported in the cultivation section 11 by a supporting member 11b such as a column. In one cultivation section 11, a plurality of cultivation equipment 11a are arranged in a straight line along the long side direction of the cultivation section 11. One cultivation section 11 extends in one direction for a predetermined distance of, for example, about ten to several tens of meters. In the field 10, the plurality of cultivation sections 11 are arranged parallel to each other. In addition, the plurality of cultivation sections 11 are arranged with intervals between each other. In this case, the intervals between the plurality of cultivation sections 11 are equal intervals. In addition, the intervals between the plurality of cultivation sections 11 may also be unequal intervals.

[0026] The hot water pipe 12 is provided between two adjacent cultivation sections 11. The hot water pipe 12 is formed by bending a long tubular material into a so-called U-shape, and extends along each cultivation section 11. Hot water can flow through the hot water pipe 12 from a hot water supply device (not shown). By flowing hot water through the hot water pipe 12, the temperature in the field 10, especially the temperature of the surrounding area of ​​the cultivation section 11, can be heated to an appropriate temperature. The hot water pipe 12 is provided in the field 10 as an example of a predetermined target.

[0027] The track line 13 is set on the ground of the field 10 by, for example, pasting, printing, or drawing, and connects the plurality of hot water pipes 12. The area in the field 10 where the hot water pipe 12 is set is defined as the working area R1. In addition, the area other than the working area R1 in the field 10 and the area connecting the plurality of working areas R1, in this case, the area where the track line 13 is set is defined as the non-working area R2. The non-working area R2 includes a passageway where the self-propelled working robot 100 travels when not working.

[0028] Basically, the work area R1 is an area set up assuming that the self-propelled working robot 100 performs work, and is set up assuming that, for example, there are no managers of the field 10, users of the self-propelled working robot 100, and the like. That is, basically, the work area R1 can be defined as a non-coexistence area set up assuming that the self-propelled working robot 100 and humans do not coexist.

[0029] On the other hand, the non-operation area R2 is an area set up assuming that no work is performed by the self-propelled working robot 100, and is set up assuming that, for example, a manager of the field 10, a user of the self-propelled working robot 100, and the like exist. That is, basically, the non-operation area R2 can be defined as a coexistence area set up assuming that the self-propelled working robot 100 and a person coexist.

[0030] In addition, a plurality of marks 14 and 15 are provided in the field 10. In this case, the marks 14 and 15 are provided at the boundary point between the working area R1 and the non-working area R2 or at the branch point of the track line 13. To explain in more detail, in this case, the mark 14 is provided near the boundary point between the working area R1 and the non-working area R2, at a position immediately before entering the working area R1 in the non-working area R2. In addition, the mark 15 is provided at the branch point where the track line 13 provided in a straight line so as to cross the plurality of working areas R1 branches to each working area R1.

[0031] The markers 14 and 15 are set on the ground of the field 10 by, for example, pasting, printing or drawing, and can be photographed by the camera 104 of the self-propelled working robot 100. In addition, the markers 14 and 15 can also be formed by, for example, an information transmission medium that can transmit information in a non-contact manner through magnetism, radio waves, images, sound waves or other methods. Specifically, the markers 14 and 15 can be formed by, for example, RFID, two-dimensional codes, magnetic tags, etc.

[0032] Next, a configuration example of the self-propelled working robot 100 will be described in detail. Figure 2 As shown in the example, the self-propelled working robot 100 is provided with a robot arm 102 on the upper part of the robot body 101 constituting the base part thereof. The robot arm 102 is an example of a motion unit. The robot arm 102 is a structure in which a plurality of movable arms are combined, and is a so-called multi-axis structure. Therefore, as the robot arm 102, a so-called six-axis robot arm or a four-axis robot arm, etc. can be applied.

[0033] Furthermore, the robot arm 102 has a harvesting tool 103 and a camera 104 at its front end. The harvesting tool 103 is provided as an example of an operating unit that performs a predetermined action, in this case, a harvesting operation of the crop T. The robot arm 102 is provided with such a harvesting tool 103 for harvesting crops, and is thus configured as an operating unit that can perform a harvesting operation as an example of an agricultural operation. In addition, the operating unit that can be provided in the robot arm 102 is not limited to the harvesting tool 103, and may be, for example, a tool that performs an agricultural operation other than the harvesting operation or a tool that performs an operation other than the agricultural operation.

[0034] The camera 104 is an example of an imaging unit, and is configured to capture, for example, the track line 13, the marks 14, 15, etc. set in the field 10. The self-propelled working robot 100 can autonomously travel while determining the current position of the self-propelled working robot 100 based on the track line 13, the marks 14, 15, etc. captured by the camera 104.

[0035] The robot arm 102 is configured to be operable in a plurality of operation modes. In this case, the robot arm 102 is configured to be switchable between at least an operation permission mode that permits the operation and an operation restriction mode that restricts the operation.

[0036] The action permission mode is an action mode that allows the harvesting action of the crop T by the harvesting tool 103 or the shooting action by the camera 104 while the robot arm 102 moves the plurality of movable arms.

[0037] On the other hand, the motion restriction mode is an action mode in which the harvesting action of the crop T by the harvesting tool 103 or the shooting action by the camera 104 is restricted while the robot arm 102 moves the plurality of movable arms. In this case, the restriction in the motion restriction mode is assumed to restrict or stop the action of the robot arm 102. However, for example, if sufficient safety can be ensured, the restriction in the motion restriction mode may be set to slightly allow the action of the robot arm 102.

[0038] In addition, the self-propelled working robot 100 has a traveling unit 105 at the lower part of the robot main body 101. The traveling unit 105 has a pair of driving wheels 106 and a plurality of driven wheels 107. The driving wheel 106 is an example of a wheel. Although the detailed illustration is omitted, the driving wheel 106 is configured to rotate through a driving source such as a motor via a reducer. The traveling unit 105 mainly drives the robot main body 101 by rotating the driving wheel 106, and further drives the self-propelled working robot 100 as a whole. The driven wheel 107 rotates as the robot main body 101 drives through the driving wheel 106, supports the driving of the robot main body 101, and further supports the driving of the self-propelled working robot 100 as a whole, and stabilizes it.

[0039] In addition, the robot body 101 is in a long, generally rectangular shape, and the travel unit 105 causes the robot body 101 and thus the self-propelled working robot 100 to travel along the long side direction of the robot body 101. That is, in this case, the travel direction of the robot body 101 and thus the self-propelled working robot 100 is along the long side direction of the robot body 101.

[0040] In addition, the robot body 101 of the self-propelled working robot 100 travels on the hot water pipe 12 via the travel unit 105 in the working area R1. In addition, the self-propelled working robot 100 travels in the working area R1 with the long side direction of the robot body 101 along the extending direction of the hot water pipe 12. As a result, in the field 10, the hot water pipe 12 is extended along the traveling direction of the robot body 101 formed by the travel unit 105.

[0041] In addition, the self-propelled working robot 100 is provided with a disinfection unit 108. The disinfection unit 108 is an example of a disinfection unit, and is configured to spray disinfectant from a nozzle not shown in the figure in a disinfection box with an open upper surface. The disinfection unit 108 is configured to spray disinfectant when the robot arm 102 moves the harvesting tool 103 at the front end into the disinfection box of the disinfection unit 108, thereby disinfecting the harvesting tool 103.

[0042] In addition, the self-propelled working robot 100 is provided with a plurality of obstacle detection sensors 109, in this case, two obstacle detection sensors 109. The obstacle detection sensors 109 are respectively dispersedly arranged at the front and rear of the robot body 101 in the direction of travel. The obstacle detection sensor 109 is provided as an example of an obstacle detection unit for detecting obstacles existing around the robot body 101. The obstacle detection sensor 109 is composed of, for example, a laser sensor, an ultrasonic sensor, etc. that detects obstacles existing around. As obstacles detected by the obstacle detection sensor 109, for example, cultivation equipment 11a, supporting parts 11b, people, various equipment, etc. are assumed to exist in the field 10. In addition, it is preferred that the obstacle detection sensor 109 is composed of a sensor that has obtained a prescribed safety certification.

[0043] In addition, the self-propelled working robot 100 is provided with a plurality of hot water pipe detection sensors 110, in this case, two hot water pipe detection sensors 110. The hot water pipe detection sensors 110 are also dispersedly arranged at the front and rear of the robot body 101 in the direction of travel. The hot water pipe detection sensor 110 is provided as an example of a target detection unit, and in this case, it is configured to be able to detect a hot water pipe 12 as an example of a target set in the field 10. A detailed description of the structure, function, etc. of the hot water pipe detection sensor 110 will be described later. In addition, it is preferred that the hot water pipe detection sensor 110 is composed of a sensor that has obtained a prescribed safety certification.

[0044] The self-propelled working robot 100 also includes a control device 120. The control device 120 is mainly composed of, for example, a microcomputer, and controls the overall operation of the self-propelled working robot 100 based on a control program, setting data, and the like.

[0045] like Figure 3 as well as Figure 4 As illustrated, one of the two obstacle detection sensors 109 is arranged at the front of the robot body 101 on one end side in the short-side direction of the robot body 101. In addition, the other of the two obstacle detection sensors 109 is arranged at the rear of the robot body 101 on the other end side in the short-side direction of the robot body 101.

[0046] In addition, the driving wheel 106 provided in the traveling part 105 is a structure in which a large wheel part 106a and a small wheel part 106b are combined into a coaxial shape. The large wheel part 106a is a wheel with a large diameter constituting the main body of the driving wheel 106. On the other hand, the small wheel part 106b is a wheel with a smaller diameter than the large wheel part 106a. The large wheel part 106a and the small wheel part 106b share a common rotation axis, so the large wheel part 106a and the small wheel part 106b rotate integrally.

[0047] When the self-propelled working robot 100 travels in an area other than the working area R1 in the field 10, the large wheel portion 106a travels in a state of contact with the ground of the field 10. At this time, the small wheel portion 106b is separated from the ground of the field 10 without contact. Thus, when the self-propelled working robot 100 travels in an area other than the working area R1 in the field 10, it travels mainly by rotating the large wheel portion 106a.

[0048] However, when the self-propelled working robot 100 travels in the working area R1 in the field 10, it travels on the hot water pipe 12 as described above. Figure 4 As shown in the example, the self-propelled working robot 100 travels in a state where the small wheel portion 106b is in contact with the upper surface of the hot water pipe 12. In addition, at this time, the large wheel portion 106a is separated from the ground surface of the field 10. Therefore, when the self-propelled working robot 100 travels in the working area R1 in the field 10, it travels mainly by rotating the small wheel portion 106b.

[0049] Next, the structure example of the hot water pipe detection sensor 110 is further described in detail. Figure 5 As shown in the example, the hot water pipe detection sensor 110 includes a non-contact switch 111 and a shielding plate 112. The non-contact switch 111 is configured to switch between an on state and an off state according to a change in an optical or magnetic state, for example. The shielding plate 112 is provided on the side of the non-contact switch 111 so as to be rotatable in the up-down direction.

[0050] In this case, the shielding plate 112 can be Figure 6 As shown in the example, the non-detection position is a state where the non-contact switch 111 is not covered but exposed. Figure 7 As shown in the example, the non-contact switch 111 is turned between detection positions in a state of covering the non-contact switch 111.

[0051] In addition, the shielding plate 112 is urged by a urging member 113 composed of, for example, a compression coil spring, so as to Figure 7 The detection position shown is lateral Figure 6 The illustrated non-detection position side rotates. In addition, a support wheel 114 is rotatably provided at the lower end of the shielding plate 112.

[0052] like Figure 6 As shown in the example, when the self-propelled working robot 100 is not on the hot water pipe 12, the shielding plate 112 is rotated to the non-detection position by the force of the force applying member 113. As a result, the non-contact switch 111 is in a state of not detecting the hot water pipe 12, that is, in a non-detection state. Figure 7 As shown in the example, when the self-propelled working robot 100 is on the hot water pipe 12, the shielding plate 112 is pressed upward by the hot water pipe 12 via the supporting wheels 114, and rotates to the detection position while resisting the force of the force applying member 113. As a result, the non-contact switch 111 is in the state of detecting the hot water pipe 12, that is, the detection state.

[0053] With such a configuration, the hot water pipe detection sensor 110 is configured to be able to detect the hot water pipe 12 as an example of a target by switching the non-contact switch 111 to a detection state or a non-detection state.

[0054] Next, a configuration example of the control system of the self-propelled working robot 100 will be described in detail. Figure 8 As illustrated, the control device 120 executes the control program to virtually implement the action control unit 121, the travel control unit 122, the safety monitoring unit 123, the action mode switching unit 124, the detection area switching unit 125, and the form switching unit 126 by software. In addition, these processing units may be configured by hardware or by a combination of software and hardware.

[0055] The motion control unit 121 is configured to be able to control the overall motion of the self-propelled working robot 100. In addition, the motion control unit 121 controls the overall motion of the robot arm 102 while recognizing the posture, speed, position, etc. of each part of the robot arm 102. In addition, the motion control unit 121 controls the overall harvesting motion of the harvesting tool 103. In addition, the motion control unit 121 controls the overall shooting motion of the camera 104.

[0056] To explain in more detail, the motion control unit 121 analyzes the image captured by the camera 104, identifies the position and posture of the work object, that is, the crop T, and determines the cutting point. Then, the motion control unit 121 causes the robot arm 102 to move so that the harvesting tool 103 reaches the determined cutting point. Then, the motion control unit 121 causes the harvesting tool 103 to move at the determined cutting point. Thus, the motion control unit 121 is configured to be able to harvest the work object, that is, the crop T, by the robot arm 102 equipped with the harvesting tool 103 and the camera 104. In addition, the self-propelled working robot 100 can also be configured to have a collection box for collecting the crops T harvested by the robot arm 102.

[0057] The travel control unit 122 is configured to control the travel of the robot body 101 realized by the travel unit 105 and thus control the travel of the self-propelled working robot 100 as a whole. The travel control unit 122 is connected to, for example, an encoder, an angle sensor, a rotation speed sensor for measuring the rotation speed of the motor, and the like. The travel unit 105 is configured to switch the rotation speed of the drive wheel 106 that moves the robot body 101 and thus moves the self-propelled working robot 100 as a whole, based on the control of the travel control unit 122, according to the detection status of the hot water pipe 12 by the hot water pipe detection sensor 110. In other words, the travel unit 105 is configured to switch the moving speed of the robot body 101 and thus the moving speed of the self-propelled working robot 100 as a whole.

[0058] To explain in more detail, as described above, when the self-propelled working robot 100 travels in an area other than the working area R1 in the field 10, it travels mainly by rotating the large wheel portion 106a. On the other hand, when the self-propelled working robot 100 travels in the working area R1 in the field 10, it travels mainly by rotating the small wheel portion 106b. Therefore, if it is assumed that the driving wheel 106 rotates at the same rotation speed regardless of the area in which the self-propelled working robot 100 travels, the moving speed of the self-propelled working robot 100 when traveling in an area other than the working area R1 is relatively fast, and the moving speed of the self-propelled working robot 100 when traveling in the working area R1 is relatively slow.

[0059] Therefore, for example, when the self-propelled working robot 100 is to be driven in the working area R1 at the same moving speed as that in the area other than the working area R1 , the driving control unit 122 may increase the rotation speed of the driving wheels 106 .

[0060] In addition, the travel control unit 122 is configured to be able to switch the travel unit 105 to at least a harvesting mode, a tunnel travel mode, and a transfer mode.

[0061] The harvesting mode is a travel mode assuming that the self-propelled working robot 100 travels in the working area R1, and can make the self-propelled working robot 100 travel at a predetermined high speed. The predetermined high speed can be appropriately changed and set within a speed range that can ensure sufficient safety.

[0062] The channel driving mode is a driving mode that assumes that the self-propelled working robot 100 drives in an area other than the working area R1, and can drive the self-propelled working robot 100 at a specified low speed or stop it. In addition, the specified low speed can be appropriately changed and set within a speed range that can ensure sufficient safety and within a speed range lower than the above-mentioned specified high speed.

[0063] The transfer mode is a driving mode that assumes the situation where the self-propelled working robot 100 moves from outside the working area R1 to inside the working area R1, and the situation where the self-propelled working robot 100 moves from inside the working area R1 to outside the working area R1, and can make the self-propelled working robot 100 travel at a specified low speed. In addition, the specified low speed in the transfer mode is assumed to be a speed slower than the specified low speed in the channel driving mode. However, the specified low speed in the transfer mode may also be a speed equal to the specified low speed in the channel driving mode, or may be a speed slightly faster than the specified low speed in the channel driving mode.

[0064] The safety monitoring unit 123 is configured to monitor whether the behavior of at least the robot arm 102 and the traveling unit 105 is in a safe state. In addition, the safety monitoring unit 123 is configured to monitor whether the behavior of the self-propelled working robot 100 as a whole is in a safe state. The safety monitoring unit 123 functions as a control unit that controls the behavior of the robot arm 102, the traveling unit 105, and the self-propelled working robot 100 as a whole. In addition, as a safe state, it is at least assumed that the self-propelled working robot 100 will not pose a threat to humans, and an appropriate state can be set. In addition, it is preferred that the safety monitoring unit 123 is composed of a control unit that has obtained a prescribed safety certification.

[0065] The action mode switching unit 124 is configured to switch the action mode of the robot arm 102 according to the detection status of the hot water pipe 12 by the hot water pipe detection sensor 110. The action mode switching unit 124 is configured to switch the action mode of the robot arm 102 from the action restriction mode to the action permission mode when the hot water pipe detection sensor 110 detects the hot water pipe 12. In addition, the action mode switching unit 124 is configured to switch the action mode of the robot arm 102 from the action permission mode to the action restriction mode when the hot water pipe detection sensor 110 does not detect the hot water pipe 12.

[0066] The detection area switching unit 125 is configured to switch the obstacle detection area of ​​the obstacle detection sensor 109. In this case, the detection area switching unit 125 is configured to switch the obstacle detection area according to the detection status of the hot water pipe 12 by the hot water pipe detection sensor 110.

[0067] To explain in more detail, the detection area switching unit 125 is configured to switch the hot water pipe 12 when the hot water pipe detection sensor 110 fails to detect the hot water pipe 12. Figure 3 As illustrated, the obstacle detection area of ​​the obstacle detection sensor 109 is switched to the lane-outside pattern Pa. The lane-outside pattern Pa can also be defined as a non-operation pattern assuming that the robot arm 102 is not performing an operation.

[0068] In the lane-outside pattern Pa, a plurality of detection areas are formed, in this case, a first deceleration area Pa1, a second deceleration area Pa2, and a stop area Pa3. The first deceleration area Pa1, the second deceleration area Pa2, and the stop area Pa3 are all rectangular frame-shaped detection areas centered on the self-propelled working robot 100. In addition, the first deceleration area Pa1 is set outside the second deceleration area Pa2, the second deceleration area Pa2 is set outside the stop area Pa3, and the stop area Pa3 is set outside the self-propelled working robot 100. The lane-outside pattern Pa becomes a detection area pattern covering the entire surroundings including the front, rear, left side, and right side of the self-propelled working robot 100.

[0069] When the obstacle detection sensor 109 detects that there is an obstacle in the first deceleration area Pa1, the travel control unit 122 decelerates the moving speed of the self-propelled working robot 100 to the first speed for non-operation. The first speed for non-operation can be appropriately changed and set within a speed range slower than the speed for non-operation, which is set to the moving speed of the self-propelled working robot 100 in the area outside the working area R1. In addition, the speed for non-operation can be appropriately changed and set within a speed range that can ensure sufficient safety when the self-propelled working robot 100 travels in the area outside the working area R1.

[0070] In addition, when the obstacle detection sensor 109 detects that there is an obstacle in the second deceleration area Pa2, the travel control unit 122 decelerates the movement speed of the self-propelled working robot 100 to the second speed for non-operation. The second speed for non-operation can be appropriately changed and set within a speed range slower than the first speed for non-operation.

[0071] Furthermore, when the obstacle detection sensor 109 detects the presence of an obstacle in the stop area Pa3 , the travel control unit 122 stops the travel of the self-propelled working robot 100 .

[0072] On the other hand, when the hot water pipe 12 is detected by the hot water pipe detection sensor 110, the detection area switching unit 125 Figure 4As illustrated, the obstacle detection area of ​​the obstacle detection sensor 109 is switched to the in-lane pattern Pb. The in-lane pattern Pb can also be defined as a work pattern assuming that the robot arm 102 is working.

[0073] In the lane pattern Pb, a plurality of detection areas are formed, in this case, a first deceleration area Pb1, a second deceleration area Pb2, and a stop area Pb3 are formed. The first deceleration area Pb1, the second deceleration area Pb2, and the stop area Pb3 are all detection areas in the shape of long rectangles along the short side direction of the self-propelled working robot 100 in front and behind the self-propelled working robot 100. In addition, the first deceleration area Pb1 is set outside the second deceleration area Pb2, the second deceleration area Pb2 is set outside the stop area Pb3, and the stop area Pb3 is set outside the self-propelled working robot 100. The lane pattern Pb becomes a detection area pattern that includes the front and rear of the self-propelled working robot 100 and does not include the left and right sides. In other words, it becomes a detection area pattern that covers the area along the travel direction of the self-propelled working robot 100 in the working area R1.

[0074] When the obstacle detection sensor 109 detects that there is an obstacle in the first deceleration area Pb1, the travel control unit 122 decelerates the moving speed of the self-propelled working robot 100 to the first speed for operation. The first speed for operation can be appropriately changed and set within a speed range slower than the speed for operation, which is set as the moving speed of the self-propelled working robot 100 in the operation area R1. In addition, the speed for operation can be appropriately changed and set within a speed range that can ensure sufficient safety when the self-propelled working robot 100 travels in the operation area R1.

[0075] In addition, when the obstacle detection sensor 109 detects that there is an obstacle in the second deceleration area Pb2, the travel control unit 122 decelerates the movement speed of the self-propelled working robot 100 to the second speed for operation. The second speed for operation can be appropriately changed and set within a speed range slower than the first speed for operation.

[0076] Furthermore, when the obstacle detection sensor 109 detects the presence of an obstacle in the stop area Pb3 , the travel control unit 122 stops the travel of the self-propelled working robot 100 .

[0077] The working speed is assumed to be slower than the non-working speed, the working first speed is assumed to be slower than the non-working first speed, and the working second speed is assumed to be slower than the non-working second speed.

[0078] The mode switching unit 126 is configured to switch the mode of the robot arm 102 according to the detection status of the hot water pipe detection sensor 110 on the hot water pipe 12. In this case, the robot arm 102 is configured to be able to switch between a detection mode set to a mode that should be adopted when the hot water pipe detection sensor 110 detects the hot water pipe 12 or a recommended mode, and a non-detection mode set to a mode that should be adopted when the hot water pipe detection sensor 110 does not detect the hot water pipe 12 or a recommended mode.

[0079] As the non-detection state, for example, the robot arm 102 may move the harvesting tool 103 at the front end into the disinfection unit 108, or the robot arm 102 may move the camera 104 at the front end to a position where it can photograph a predetermined photographing object, or other appropriate states may be used. That is, as the non-detection state, various states may be applied as long as the robot arm 102 does not directly contact a person or the like existing around the self-propelled working robot 100.

[0080] The detection state may be, for example, a state in which the robot arm 102 is capable of immediate action, in other words, a state in which the robot arm 102 is in a standby state, or a state in which the robot arm 102 moves the harvesting tool 103 at the front end to the outside of the disinfection unit 108. In addition, it may be an appropriate state different from the non-detection state described above.

[0081] Furthermore, the mode switching unit 126 is configured to switch the mode of the robot arm 102 from the detection mode to the non-detection mode when the robot arm 102 switches to the detection mode when the hot water pipe detection sensor 110 does not detect the hot water pipe 12 .

[0082] Furthermore, the mode switching unit 126 is configured to drive the robot body 101 and the self-propelled working robot 100 as a whole by driving the driving unit 105 while maintaining the robot arm 102 in the state when the hot water pipe detection sensor 110 does not detect the hot water pipe 12 and the robot arm 102 switches to the detection mode, until the hot water pipe detection sensor 110 detects the hot water pipe 12. Furthermore, the mode switching unit 126 switches the mode of the robot arm 102 from the detection mode to the non-detection mode on the condition that the hot water pipe detection sensor 110 detects the hot water pipe 12, that is, on the condition that the self-propelled working robot 100 moves into the working area R1.

[0083] That is, when the hot water pipe detection sensor 110 does not detect the hot water pipe 12, the self-propelled working robot 100 is likely to be present in an area outside the working area R1. Furthermore, if the robot arm 102 is assumed to be switched from the detection state to the non-detection state while the self-propelled working robot 100 is present in an area outside the working area R1, there is a concern that the robot arm 102 may come into contact with a person or an obstacle during the state transformation.

[0084] Therefore, when the robot arm 102 switches to the detection state when the hot water pipe detection sensor 110 does not detect the hot water pipe 12, the self-propelled working robot 100 can be moved into the working area R1 while maintaining this state, and then the state of the robot arm 102 can be switched from the detection state to the non-detection state. In other words, the robot arm 102 can be deformed from the detection state to the non-detection state in the working area R1. In this way, it is possible to avoid the robot arm 102 from contacting a person or an obstacle in the middle of the state deformation.

[0085] exist Fig. 9 An example of the correspondence relationship between the detection states of the hot water pipe detection sensor 110 and the obstacle detection sensor 109 and the modes of each part is shown.

[0086] For example, according to situation pattern A, the front hot water pipe detection sensor 110 is in the detection state, and the rear hot water pipe detection sensor 110 is in the detection state. In this case, since both the front and rear hot water pipe detection sensors 110 of the self-propelled working robot 100 are in the detection state, the self-propelled working robot 100 can be determined to be in the working area R1. Therefore, the control device 120 switches the obstacle detection area of ​​the obstacle detection sensor 109 to the lane pattern Pb.

[0087] Furthermore, when the obstacle detection area of ​​the obstacle detection sensor 109 is switched to the in-lane pattern Pb, the front obstacle detection sensor 109 is in a non-detection state, and the rear obstacle detection sensor 109 is in a non-detection state.

[0088] Based on the above, the control device 120 determines that the self-propelled working robot 100 is present in the work area R1 and there are no obstacles around the self-propelled working robot 100 , in this case, in front of and behind the self-propelled working robot 100 .

[0089] In addition, the control device 120 switches the driving mode of the driving unit 105 to the harvesting mode and becomes a state in which a predetermined high-speed driving is possible. In addition, the control device 120 switches the action mode of the robot arm 102 to the action permission mode and becomes a state in which an action based on the robot arm 102 can be performed. Thus, the self-propelled working robot 100 can perform a harvesting operation using the robot arm 102 in the working area R1.

[0090] Furthermore, for example, according to situation pattern B, when the obstacle detection area of ​​the obstacle detection sensor 109 is switched to the lane pattern Pb, the front obstacle detection sensor 109 is in the detection state and the rear obstacle detection sensor 109 is in the non-detection state.

[0091] Therefore, the control device 120 determines that the self-propelled working robot 100 is present in the work area R1 and that there is an obstacle around the self-propelled working robot 100 , in this case, in front of the self-propelled working robot 100 .

[0092] In addition, the control device 120 switches the driving mode of the driving unit 105 to the harvesting mode and becomes a state capable of driving at a predetermined high speed. However, since an obstacle is detected in front of the self-propelled working robot 100, the control device 120 switches the driving mode of the driving unit 105 to the harvesting mode, adjusts the moving speed of the self-propelled working robot 100 to a predetermined low speed, and stops the driving of the self-propelled working robot 100 according to the situation.

[0093] In addition, the control device 120 switches the action mode of the robot arm 102 to the action restriction mode and puts the action of the robot arm 102 into a state where the action is restricted. This can prevent the robot arm 102 from moving and contacting an obstacle. At this time, the control device 120 can, for example, slow down the action speed of the robot arm 102 or stop the action of the robot arm 102. In addition, the control device 120 can also control the action mode of the robot arm 102 to be the action permission mode, for example, slow down the action speed of the robot arm 102 or temporarily stop the action of the robot arm 102.

[0094] In addition, for example, according to the situation pattern C, the front hot water pipe detection sensor 110 is in the detection state, and the rear hot water pipe detection sensor 110 is in the non-detection state. In this case, one of the front and rear hot water pipe detection sensors 110 of the self-propelled working robot 100 is in the non-detection state. Therefore, the self-propelled working robot 100 can be determined to be in the state of moving from the outside of the working area R1 to the inside of the working area R1, or in the state of moving from the inside of the working area R1 to the outside of the working area R1.

[0095] In this case, the self-propelled working robot 100 is estimated to be at least partially present in the working area R1. Therefore, the control device 120 switches the obstacle detection area of ​​the obstacle detection sensor 109 to the lane-inside pattern Pb. That is, the control device 120 is configured to switch the obstacle detection area of ​​the obstacle detection sensor 109 to the lane-inside pattern Pb as long as the self-propelled working robot 100 has not moved out of the working area R1 as a whole, that is, as long as a part of the self-propelled working robot 100 remains in the working area R1. In addition, the control device 120 may also switch the obstacle detection area of ​​the obstacle detection sensor 109 to the lane-outside pattern Pa when at least a part of the self-propelled working robot 100 has moved out of the working area R1.

[0096] Furthermore, when the obstacle detection area of ​​the obstacle detection sensor 109 is switched to the in-lane pattern Pb, the front obstacle detection sensor 109 is in a non-detection state, and the rear obstacle detection sensor 109 is in a non-detection state.

[0097] Based on the above, the control device 120 determines that the self-propelled working robot 100 is in the middle of moving from outside the working area R1 to inside the working area R1, or in the middle of moving from inside the working area R1 to outside the working area R1. In addition, the control device 120 determines that there is no obstacle around the self-propelled working robot 100, in this case, in front of and behind the self-propelled working robot 100.

[0098] In addition, the control device 120 switches the driving mode of the driving unit 105 to the transfer mode and becomes a state in which a predetermined low-speed driving can be performed. In addition, the control device 120 switches the action mode of the robot arm 102 to the action restriction mode and becomes a state in which the action of the robot arm 102 is restricted. Thus, the self-propelled working robot 100 can move from outside the working area R1 to inside the working area R1, or move from inside the working area R1 to outside the working area R1, while the action of the robot arm 102 is restricted. In addition, at this time, the control device 120 can, for example, maintain the state in which the action of the robot arm 102 is stopped.

[0099] In addition, although detailed description is omitted, when the front hot water pipe detection sensor 110 is in the non-detection state and the rear hot water pipe detection sensor 110 is in the detection state, it is estimated that the self-propelled working robot 100 is in the state of moving from outside the working area R1 to inside the working area R1, or in the state of moving from inside the working area R1 to outside the working area R1. Therefore, the control device 120 can also perform the same control as the above-mentioned situation mode C in this case.

[0100] In addition, for example, according to the situation pattern D, the front hot water pipe detection sensor 110 is in a non-detection state, and the rear hot water pipe detection sensor 110 is in a non-detection state. In this case, both the front and rear hot water pipe detection sensors 110 of the self-propelled working robot 100 are in a non-detection state. Therefore, the self-propelled working robot 100 can be determined to be in a state of being in an area outside the working area R1. Therefore, the control device 120 switches the obstacle detection area of ​​the obstacle detection sensor 109 to the lane outside pattern Pa.

[0101] Furthermore, when the obstacle detection area of ​​the obstacle detection sensor 109 is switched to the lane outside pattern Pa, the front obstacle detection sensor 109 is in a non-detection state, and the rear obstacle detection sensor 109 is in a non-detection state.

[0102] Based on the above, the control device 120 determines that the self-propelled working robot 100 is in a passage in an area outside the working area R1, such as the field 10, and there are no obstacles around the self-propelled working robot 100, in this case, in front and behind the direction of travel of the self-propelled working robot 100.

[0103] In addition, the control device 120 switches the driving mode of the driving unit 105 to the channel driving mode and becomes a state in which a predetermined low speed driving is possible. In addition, the control device 120 switches the action mode of the robot arm 102 to the action restriction mode and becomes a state in which the action of the robot arm 102 is restricted. Thus, the self-propelled working robot 100 can travel in an area other than the working area R1 in a state in which the action of the robot arm 102 is restricted. In addition, at this time, the control device 120 can, for example, maintain a state in which the action of the robot arm 102 is stopped.

[0104] For example, according to situation pattern E, when the obstacle detection area of ​​the obstacle detection sensor 109 is switched to the lane outside pattern Pa, the front obstacle detection sensor 109 is in the detection state and the rear obstacle detection sensor 109 is in the non-detection state.

[0105] Therefore, the control device 120 determines that the self-propelled working robot 100 is in a passage in an area outside the working area R1, such as the field 10, and that there are obstacles around the self-propelled working robot 100, in this case, in front of the self-propelled working robot 100 in the direction of travel.

[0106] In addition, the control device 120 switches the driving mode of the driving unit 105 to the channel driving mode and becomes a state capable of driving at a predetermined low speed. However, since an obstacle is detected in front of the self-propelled working robot 100, the control device 120 switches the driving mode of the driving unit 105 to the channel driving mode and stops the driving of the self-propelled working robot 100 according to the situation.

[0107] In addition, the control device 120 switches the motion mode of the robot arm 102 to the motion restriction mode to restrict the motion of the robot arm 102. This can prevent the robot arm 102 from moving and contacting an obstacle. At this time, the control device 120 can, for example, maintain the robot arm 102 in a stopped state.

[0108] According to the self-propelled working robot 100 illustrated above, it comprises: a robot arm 102 configured to be able to act according to a plurality of action modes, a robot body 101 provided with the robot arm 102, a traveling unit 105 for moving the robot body 101, a hot water pipe detection sensor 110 configured to be able to detect the hot water pipe 12, and an action mode switching unit 124 for switching the action mode of the robot arm 102 according to the detection status of the hot water pipe 12 by the hot water pipe detection sensor 110.

[0109] According to the self-propelled working robot 100 configured in this way, the action mode of the robot arm 102 can be appropriately switched according to the detection status of the hot water pipe 12 by the hot water pipe detection sensor 110. Thus, for example, by placing the hot water pipe 12 in the area where the action mode of the robot arm 102 is desired to be switched, in this case, in the working area R1, the action mode of the robot arm 102 can be switched between the action permission mode and the action restriction mode with good accuracy according to the area where the self-propelled working robot 100 is present.

[0110] In addition, according to the self-propelled working robot 100, the hot water pipe 12 as an example of a target extends along the moving direction of the robot body 101 formed by the traveling unit 105 and further along the moving direction of the self-propelled working robot 100 as a whole. According to this structural example, in the area where the hot water pipe 12 extends, the hot water pipe 12 can be continuously detected as the self-propelled working robot 100 moves, and the situation in which the hot water pipe 12 cannot be detected can be avoided.

[0111] Therefore, by extending the hot water pipe 12 in the region where the operation mode of the robot arm 102 is to be switched to the operation permission mode, the state where the operation mode of the robot arm 102 is switched to the operation permission mode can be continuously maintained in the region.

[0112] In addition, according to the self-propelled working robot 100, the robot body 101 and thus the self-propelled working robot 100 as a whole travels on the target hot water pipe 12 via the travel unit 105. According to this configuration example, since the target hot water pipe 12 exists right below the traveling self-propelled working robot 100, the hot water pipe 12 can be detected more easily.

[0113] Furthermore, the self-propelled working robot 100 is provided with the obstacle detection sensor 109 for detecting obstacles existing around the robot body 101, and the detection area switching unit 125 for switching the detection area of ​​the obstacle by the obstacle detection sensor 109. The detection area switching unit 125 switches the detection area of ​​the obstacle detection sensor 109 according to the detection status of the hot water pipe 12 by the hot water pipe detection sensor 110.

[0114] When the hot water pipe 12 is detected by the hot water pipe detection sensor 110, the self-propelled working robot 100 is likely to be in the working area R1. Therefore, by switching the obstacle detection area of ​​the obstacle detection sensor 109 to an area suitable for working, in this case, to the lane pattern Pb, for example, the cultivation equipment 11a and the support member 11b can be avoided from being detected as obstacles.

[0115] On the other hand, when the hot water pipe 12 is not detected by the hot water pipe detection sensor 110, the self-propelled working robot 100 is likely to be present in an area outside the working area R1. Therefore, by switching the obstacle detection area of ​​the obstacle detection sensor 109 to an area suitable for non-working, in this case, switching to the lane outside pattern Pa, for example, a person present in an area outside the working area R1 can be detected as an obstacle, and safety can be improved.

[0116] In addition, according to the self-propelled working robot 100, the robot arm 102 can be switched to at least an action-permitting mode for allowing the action and an action-restricting mode for restricting the action. Furthermore, when the hot water pipe detection sensor 110 detects the hot water pipe 12, the action mode switching unit 124 switches the action mode of the robot arm 102 from the action-restricting mode to the action-permitting mode.

[0117] When the hot water pipe 12 is detected by the hot water pipe detection sensor 110, the self-propelled working robot 100 is likely to be in the working area R1. Therefore, by switching the operation mode of the robot arm 102 from the operation restriction mode to the operation permission mode, the robot arm 102 can perform the work appropriately.

[0118] On the other hand, when the hot water pipe detection sensor 110 does not detect the hot water pipe 12, the self-propelled working robot 100 is likely to be in an area other than the working area R1. Therefore, by switching the operation mode of the robot arm 102 from the operation permission mode to the operation restriction mode, safety can be improved.

[0119] In addition, according to the self-propelled working robot 100 , the hot water pipe detection sensor 110 is provided at the front and rear of the robot body 101 in the moving direction.

[0120] According to this configuration example, it is possible to accurately determine that the self-propelled working robot 100 is entirely on the hot water pipe 12, that is, within the work area R1, based on the fact that both the front and rear hot water pipe detection sensors 110 are in the detection state.

[0121] In addition, based on the fact that either one of the two front and rear hot water pipe detection sensors 110 changes from a detection state to a non-detection state, it can be determined with high accuracy that the self-propelled working robot 100 is entirely or partially outside the working area R1.

[0122] Furthermore, by stopping the movement of the robot arm 102 based on the change of either of the front and rear hot water pipe detection sensors 110 from a detection state to a non-detection state, the robot arm 102 can be prevented from moving outside the working area R1, thereby achieving further improvement in safety.

[0123] In addition, the self-propelled working robot 100 is provided with a form switching unit 126 that switches the form of the robot arm 102 according to the detection status of the hot water pipe detection sensor 110 on the hot water pipe 12. Furthermore, the robot arm 102 can switch between a detection form that is set as a form to be adopted or a recommended form when the hot water pipe detection sensor 110 detects the hot water pipe 12, and a non-detection form that is set as a form to be adopted or a recommended form when the hot water pipe detection sensor 110 does not detect the hot water pipe 12. Furthermore, when the robot arm 102 is switched to the detection form when the hot water pipe detection sensor 110 does not detect the hot water pipe 12, the form switching unit 126 switches the form of the robot arm 102 from the detection form to the non-detection form.

[0124] When the hot water pipe detection sensor 110 does not detect the hot water pipe 12, the self-propelled working robot 100 is likely to be in an area other than the working area R1. Therefore, by switching the robot arm 102 from the detection state to the non-detection state, safety can be improved.

[0125] In addition, according to the self-propelled working robot 100, when the robot arm 102 switches to the detection state when the hot water pipe detection sensor 110 does not detect the hot water pipe 12, the robot body 101 is driven by the driving unit 105 until the hot water pipe detection sensor 110 detects the hot water pipe 12, and then the state switching unit 126 switches the state of the robot arm 102 from the detection state to the non-detection state.

[0126] When the hot water pipe 12 is not detected by the hot water pipe detection sensor 110, the self-propelled working robot 100 is likely to be in an area outside the working area R1. Therefore, if the robot arm 102 is switched in this state, there is a concern that the robot arm 102 may come into contact with a person. On the other hand, when the hot water pipe 12 is detected by the hot water pipe detection sensor 110, the self-propelled working robot 100 is likely to be in the working area R1, and the possibility of a person being in the working area R1 is low.

[0127] Therefore, when the robot arm 102 switches to the detection state when the hot water pipe detection sensor 110 does not detect the hot water pipe 12, the robot body 101 can be driven by the driving unit 105 until the hot water pipe detection sensor 110 detects the hot water pipe 12, that is, the self-propelled working robot 100 moves into the working area R1, and then switches the state of the robot arm 102. In this way, it is possible to avoid contact between the robot arm 102 and a person when the state is deformed, and improve safety.

[0128] In addition, the self-propelled working robot 100 includes the harvesting tool 103 provided on the robot arm 102 and the sterilizing unit 108 for sterilizing the harvesting tool 103. Therefore, for example, the state in which the harvesting tool 103 is moved into the sterilizing unit 108 can be set as the non-detection state.

[0129] According to the form of the harvesting tool 103 moving into the disinfection unit 108, it is easier to avoid the harvesting tool 103 from contacting people, and safety can be further improved. In addition, the robot arm 102 is set to the non-detection form mainly when the robot arm 102 is not working. Therefore, by adopting the form of the harvesting tool 103 moving into the disinfection unit 108 as the non-detection form, the harvesting tool 103 can be disinfected by the disinfection unit 108 when not working, and the disinfection operation can be performed efficiently.

[0130] Furthermore, the self-propelled working robot 100 includes the camera 104 provided on the robot arm 102. Therefore, for example, a state in which the camera 104 moves to a position where it can capture a predetermined object may be set as the non-detection state.

[0131] As described above, the robot arm 102 is set to the non-detection state mainly when the robot arm 102 is not working. When the robot arm 102 is not working, it is assumed that the self-propelled working robot 100 is traveling in an area other than the working area R1. Therefore, by adopting the state in which the camera 104 moves to a position where it can photograph a predetermined photographing object such as the track line 13, the marks 14, 15, etc. as the non-detection state, it is possible to easily photograph the photographing object when the self-propelled working robot 100 is traveling when the robot arm 102 is not working, and it is possible to easily assist the traveling of the self-propelled working robot 100 when the robot arm 102 is not working.

[0132] Furthermore, according to the self-propelled working robot 100 , the travel unit 105 can switch the rotation speed of the drive wheels 106 for moving the robot body 101 and thus the entire self-propelled working robot 100 according to the detection status of the hot water pipe 12 by the hot water pipe detection sensor 110 .

[0133] As described above, if it is assumed that the drive wheel 106 is rotated at the same rotation speed when traveling mainly through the large wheel portion 106a in an area outside the working area R1 and when traveling mainly through the small wheel portion 106b on the hot water pipe 12 within the working area R1, the moving speed of the self-propelled working robot 100 when traveling in an area outside the working area R1 is relatively fast, and the moving speed of the self-propelled working robot 100 when traveling in the working area R1 is relatively slow.

[0134] Therefore, by appropriately switching the rotation speed of the driving wheel 106 according to the detection status of the hot water pipe 12 by the hot water pipe detection sensor 110, it is possible to avoid the self-propelled working robot 100 from traveling too slowly in the working area R1, thereby preventing the working time from being prolonged.

[0135] In addition, generally speaking, when the driving wheel travel speed is increased, the moving distance per unit time becomes longer, so the detection area for considering obstacles also becomes wider. However, according to the self-propelled working robot 100, even if the rotation speed of the driving wheel 106 is increased, the rotation speed of the small wheel part 106b is increased instead of the large wheel part 106a, so the overall moving speed of the self-propelled working robot 100 is not that fast.

[0136] Therefore, in the self-propelled working robot 100, if the obstacle detection area of ​​the obstacle detection sensor 109 is widened due to the acceleration of the rotation speed of the driving wheel 106, for example, even though the self-propelled working robot 100 in the working area R1 is sufficiently far away from the end of the working area R1, the wall or the like existing at the end of the working area R1 may be detected as an obstacle by the obstacle detection sensor 109. Furthermore, if an obstacle is detected, even though the self-propelled working robot 100 is not close to the end of the working area R1, the self-propelled working robot 100 may be controlled to reduce its moving speed or to stop the robot 100.

[0137] Therefore, according to the self-propelled working robot 100, when the self-propelled working robot 100 is in the working area R1, the obstacle detection area of ​​the obstacle detection sensor 109 is switched to the lane pattern Pb. Therefore, even if the travel speed of the self-propelled working robot 100 in the working area R1 is increased, the obstacle detection area of ​​the obstacle detection sensor 109 can be set to an area that is suitable for traveling in the working area R1 and does not become too wide. Therefore, it is possible to avoid control to reduce the moving speed of the self-propelled working robot 100 or control to stop the robot 100 even though there is still a distance to the end of the working area R1.

[0138] In addition, the self-propelled working robot 100 is provided with a safety monitoring unit 123 that monitors whether the overall behavior of the self-propelled working robot 100 including at least the robot arm 102 and the travel unit 105 is in a safe state. In addition, the safety monitoring unit 123 functions as a control unit that controls the overall behavior of the self-propelled working robot 100 including at least the robot arm 102 and the travel unit 105. According to this structural example, the self-propelled working robot 100 can operate and travel in a safe state based on the control of the control unit.

[0139] In addition, the safety monitoring unit 123 is composed of a control unit that has obtained a prescribed safety certification, so that safety can be more reliably guaranteed. In addition, various sensor groups such as the hot water pipe detection sensor 110 and the obstacle detection sensor 109 are also composed of sensor groups that have obtained a prescribed safety certification, so that safety can be more reliably guaranteed. In addition, other structural elements that constitute the self-propelled working robot 100 are also composed of structural elements that have obtained a prescribed safety certification, so that safety can be more reliably guaranteed. In addition, as safety certification, various safety certification standards such as standards established by the International Organization for Standardization (ISO) and the like can be adopted.

[0140] Furthermore, the self-propelled working robot 100 includes the robot arm 102 capable of performing agricultural work, but may also be configured to include a robot arm capable of performing work other than agricultural work.

[0141] (Second Embodiment)

[0142] The hot water pipe 12 installed in the field 10 is long, so there is a possibility of bending, and there is a possibility that the hot water pipe 12 is tilted in whole or in part. Fig.10 As illustrated in this embodiment, the self-propelled working robot 100 is configured to include the hot water pipe detection sensors 110 on both sides of the robot body 101 in the short-side direction.

[0143] According to this structural example, Fig.11 As shown in the example, when the hot water pipe 12 is tilted, at least one of the two hot water pipe detection sensors 110 is in a semi-detection state or a non-detection state. Therefore, it can be determined that the hot water pipe 12 is in a tilted state. Fig.10 As illustrated, when the hot water pipe 12 is not tilted, both hot water pipe detection sensors 110 are in the detection state. Therefore, it can be determined that the hot water pipe 12 is not tilted.

[0144] Thus, according to the structural example of this embodiment, the inclination of the hot water pipe 12 or the width dimension of the hot water pipe 12 in the horizontal direction can be detected by two hot water pipe detection sensors 110. The width dimension of the hot water pipe 12 can also be defined as the dimension in the direction orthogonal to the long side direction of the hot water pipe 12. The width dimension of the hot water pipe 12 in the horizontal direction may be narrowed or widened due to important factors such as the inclination of the hot water pipe 12 or the change of the hot water pipe 12 over time or damage. Moreover, the control device 120, when assuming that the inclination of the hot water pipe 12 or the change of the width dimension is detected, can execute control such as reducing the driving speed of the self-propelled working robot 100, stopping the driving, or performing an error report. Thus, even if a state in which safety may be insufficiently ensured is generated due to the inclination of the hot water pipe 12 or the change of the width dimension, it is possible to avoid continuing the driving of the self-propelled working robot 100 in this state, and safety can be improved. The error report may be made by, for example, displaying the error on a display of an operation input unit provided in the self-propelled working robot 100, lighting or flashing a warning lamp, or making the error report by voice or sound via a speaker or the like.

[0145] (Other Embodiments)

[0146] In addition, the present disclosure is not limited to the above-mentioned multiple embodiments, and can be appropriately modified and expanded within the scope of the gist. For example, the self-propelled working robot 100 can be a structure in which the above-mentioned multiple embodiments are appropriately selected and combined.

[0147] In addition, the target is not limited to the hot water pipe 12, and for example, other elements that can be detected by the self-propelled working robot 100 in the field 10 may be used as the target. In addition, the target may be, for example, a predetermined object set at the entrance of the working area R1. In this case, if the self-propelled working robot 100 detects the predetermined object, it maintains the detection state, that is, the locked state, and if the predetermined object is detected again, it switches to the non-detection state, that is, the unlocked state.

[0148] In addition, the target detection unit may be configured to detect the target not by a non-contact switch but by, for example, a contact switch, a switch based on communication or light, etc., or may be configured to detect the target by using RFID, or may be configured to detect the target by recognizing a code or the like by the camera 104. In other words, various configurations may be applied as long as the configuration can detect the target using some method.

[0149] In addition, the target detection unit may be configured to detect a target while the self-propelled working robot 100 is traveling, or may be configured to detect a target while the self-propelled working robot 100 is stopped. In addition, the self-propelled working robot 100 may be configured to allow the robot arm 102 to move at positions other than the position where the target is detected by the target detection unit, or may be configured to allow the robot arm 102 to move only at the position where the target is detected by the target detection unit. In addition, the self-propelled working robot 100 may be configured to allow the robot arm 102 to move, for example, on the condition that the safety is sufficiently ensured by the safety monitoring unit 123.

[0150] In addition, the number of target detection units mounted on a self-propelled working robot 100 is not limited to two, and may be one, or may be three or more. In addition, the configuration position of the target detection unit is not limited to the front or rear of the self-propelled working robot 100, and may be, for example, the left side, the right side, the top, the bottom, or other parts.

[0151] In addition, the obstacle detection units mounted on a self-propelled working robot 100 are not limited to two, and may be one, or may be three or more. In addition, the configuration position of the obstacle detection unit is not limited to the front or rear of the self-propelled working robot 100, for example, it may be the left side, the right side, the top, the bottom, or other parts. In addition, the present disclosure can also be applied to self-propelled working robots that perform operations other than agricultural operations.

[0152] In addition, although the present disclosure is described in accordance with the embodiments, it should be understood that the present disclosure is not limited to the embodiments and structures. The present disclosure also includes various modifications and variations within the same scope. In addition, various combinations and methods, even other combinations and methods that only include one element, more or fewer elements, are also included in the scope and thought range of the present disclosure.

[0153] In addition, the control unit and the method described in the present disclosure may also be implemented by a dedicated computer provided by a processor and a memory programmed to execute one or more functions concretized by a computer program. Alternatively, the control unit and the method described in the present disclosure may also be implemented by a dedicated computer provided by a processor composed of one or more dedicated hardware logic circuits. Alternatively, the control unit and the method described in the present disclosure may also be implemented by one or more dedicated computers composed of a combination of a processor and a memory programmed to execute one or more functions and a processor composed of one or more hardware logic circuits. In addition, the computer program may also be stored in a non-migratable tangible storage medium that can be read by a computer as an instruction executed by a computer.

[0154] In addition, the present disclosure includes the following inventions in addition to the inventions described in the claims.

[0155] [Technical solution 1]

[0156] A self-propelled working robot, comprising:

[0157] An action unit (102) configured to be able to act according to a plurality of action modes;

[0158] A robot main body (101) is provided with the above-mentioned action part;

[0159] A traveling unit (105) for driving the robot main body;

[0160] an object detection unit (110) configured to detect a predetermined object; and

[0161] An action mode switching unit (124) switches the action mode of the action unit according to the detection status of the target by the target detection unit.

[0162] [Technical Solution 2]

[0163] According to the self-propelled working robot described in technical solution 1,

[0164] The target extends along a traveling direction of the robot main body formed by the traveling portion.

[0165] [Technical Solution 3]

[0166] According to the self-propelled working robot described in technical solution 1 or 2,

[0167] The robot main body travels on the target via the travel unit.

[0168] [Technical Solution 4]

[0169] The self-propelled working robot according to any one of claims 1 to 3, comprising:

[0170] An obstacle detection unit (109) detects obstacles existing around the robot main body; and

[0171] A detection area switching unit (125) switches the detection area of ​​the obstacle by the obstacle detection unit.

[0172] The detection area switching unit switches the detection area according to a detection status of the object by the object detection unit.

[0173] [Technical Solution 5]

[0174] The self-propelled working robot according to any one of technical solutions 1 to 4, wherein:

[0175] The action unit can be switched between an action permission mode that allows the action and an action restriction mode that restricts the action.

[0176] The operation mode switching unit switches the operation mode of the operation unit from the operation restriction mode to the operation permission mode when the object detection unit detects the object.

[0177] [Technical Solution 6]

[0178] The self-propelled working robot according to any one of technical solutions 1 to 5, wherein:

[0179] The target detection unit is provided at the front and rear of the robot body in the traveling direction.

[0180] [Technical Solution 7]

[0181] The self-propelled working robot according to any one of technical solutions 1 to 6, wherein:

[0182] The self-propelled working robot comprises a form switching unit (126) for switching the form of the action unit according to a detection condition of the target by the target detection unit.

[0183] The action unit can switch between a detection mode and a non-detection mode, wherein the detection mode is set as a mode to be adopted when the target detection unit detects the target, and the non-detection mode is set as a mode to be adopted when the target detection unit does not detect the target.

[0184] When the operation unit is switched to the detection mode when the object detection unit does not detect the object, the mode switching unit switches the mode of the operation unit from the detection mode to the non-detection mode.

[0185] [Technical Solution 8]

[0186] According to the self-propelled working robot described in Technical Solution 7,

[0187] When the target detection unit fails to detect the target and the action unit switches to the detection state, the robot body is driven by the driving unit until the target detection unit detects the target, and then the state switching unit switches the state of the action unit from the detection state to the non-detection state.

[0188] [Technical Solution 9]

[0189] The self-propelled working robot according to claim 7 or 8, wherein the robot comprises:

[0190] An operation unit (103), provided in the above-mentioned action unit, performs a predetermined operation; and

[0191] The disinfection unit (108) disinfects the above-mentioned operation unit.

[0192] The non-detection state is a state in which the working section is moved into the disinfecting section.

[0193] [Technical Solution 10]

[0194] According to the self-propelled working robot described in technical solution 7 or 8,

[0195] The self-propelled working robot comprises a photographing unit (104) arranged on the action unit.

[0196] The non-detection state is a state in which the imaging unit moves to a position where an imaging of a predetermined imaging object can be achieved.

[0197] [Technical Solution 11]

[0198] The self-propelled working robot according to any one of technical solutions 1 to 10, wherein:

[0199] The travel unit switches a rotation speed of a wheel for moving the robot body according to a detection condition of the target by the target detection unit.

[0200] [Technical Solution 12]

[0201] The self-propelled working robot according to any one of technical solutions 1 to 11, wherein:

[0202] The self-propelled working robot comprises a safety monitoring unit (123) for monitoring whether the actions of the action unit and the travel unit are in a safe state.

[0203] [Technical Solution 13]

[0204] According to the self-propelled working robot described in technical solution 12,

[0205] The safety monitoring unit functions as a control unit that controls the behavior of the operation unit and the travel unit.

[0206] [Technical Solution 14]

[0207] According to the self-propelled working robot described in technical solution 12 or 13,

[0208] The security monitoring unit is a control unit that has obtained a predetermined security certification.

[0209] [Technical Solution 15]

[0210] The self-propelled working robot according to any one of claims 1 to 14, wherein the motion unit is capable of performing agricultural work.

[0211] [Technical Solution 16]

[0212] The self-propelled working robot according to any one of claims 1 to 15, wherein the target detection unit is a sensor that has obtained a predetermined safety certification.

[0213] [Technical Solution 17]

[0214] The self-propelled working robot according to any one of claims 1 to 16, wherein the target detection unit is capable of detecting an inclination or a width of the target.

Claims

1. A self-propelled working robot, wherein: have: An action unit (102) configured to be able to act according to a plurality of action modes; A robot main body (101) is provided with the action part; A traveling unit (105) for driving the robot main body; An object detection unit (110) is configured to detect a predetermined object; as well as An action mode switching unit (124) switches the action mode of the action unit according to a detection status of the object by the object detection unit.

2. The self-propelled working robot according to claim 1, wherein: The target extends along a traveling direction of the robot main body portion formed by the traveling portion.

3. The self-propelled working robot according to claim 1, wherein: The robot main body travels on the target via the travel unit.

4. The self-propelled working robot according to claim 1, wherein: have: An obstacle detection unit (109) detects obstacles existing around the robot main body; and A detection area switching unit (125) switches the obstacle detection area of ​​the obstacle detection unit. The detection area switching unit switches the detection area according to a detection status of the object by the object detection unit.

5. The self-propelled working robot according to claim 1, wherein: The action unit can be switched between an action permission mode that allows the action and an action restriction mode that restricts the action. The operation mode switching unit switches the operation mode of the operation unit from the operation restriction mode to the operation permission mode when the object detection unit detects the object.

6. The self-propelled working robot according to claim 1, wherein: The target detection unit is provided at the front and rear of the robot body in the traveling direction.

7. The self-propelled working robot according to claim 1, wherein: The self-propelled working robot comprises a form switching unit (126) for switching the form of the action unit according to a detection condition of the target by the target detection unit. The action unit can switch between a detection mode and a non-detection mode, wherein the detection mode is set as a mode to be adopted when the target detection unit detects the target, and the non-detection mode is set as a mode to be adopted when the target detection unit does not detect the target. When the operation unit switches to the detection mode when the object detection unit does not detect the object, the mode switching unit switches the mode of the operation unit from the detection mode to the non-detection mode.

8. The self-propelled working robot according to claim 7, wherein: When the action unit switches to the detection state when the target detection unit fails to detect the target, the robot body is driven by the driving unit until the target detection unit detects the target, and then the state switching unit switches the state of the action unit from the detection state to the non-detection state.

9. The self-propelled working robot according to claim 7, wherein: have: An operation unit (103), provided in the action unit, performs a predetermined operation; and A disinfection unit (108) is used to disinfect the operation unit. The non-detection state is a state in which the working unit is moved into the disinfecting unit.

10. The self-propelled working robot according to claim 7, wherein: The self-propelled working robot comprises a photographing unit (104) provided on the action unit. The non-detection state is a state in which the imaging unit moves to a position where an imaging of a predetermined imaging object can be performed.

11. The self-propelled working robot according to claim 1, wherein: The traveling unit switches a rotation speed of a wheel for moving the robot body according to a detection condition of the target by the target detection unit.

12. The self-propelled working robot according to claim 1, wherein: The self-propelled working robot includes a safety monitoring unit (123) for monitoring whether the behaviors of the action unit and the travel unit are in a safe state.

13. The self-propelled working robot according to claim 12, wherein: The safety monitoring unit functions as a control unit that controls the behavior of the operation unit and the traveling unit.

14. The self-propelled working robot according to claim 12, wherein: The security monitoring unit is a control unit that has acquired a predetermined security certification.

15. The self-propelled working robot according to claim 1, wherein: The motion unit is capable of performing agricultural operations.

16. The self-propelled working robot according to claim 1, wherein: The object detection unit is a sensor that has obtained a predetermined security certification.

17. The self-propelled working robot according to claim 1, wherein: The object detection unit may detect an inclination or a width of the object.

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