Conveyance system for harvest and container device

Abstract

To provide a technique that can appropriately convey a harvest.SOLUTION: A conveyance system for a harvest according to the present disclosure comprises: a rail net including a plurality of rails 8 provided above a field F for cultivating a crop C; and a container device 50 hung on the plurality of rails 8, and capable of moving along the plurality of rails 8 from a harvesting position at which a harvest obtained by harvesting the crop C is loaded, to a predetermined stopping position located at an edge part of the rail net.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to a conveyance system for harvested products and a container device.

Background Art

[0002] Patent Document 1 discloses a technique for automatically driving a work vehicle such as a tractor along a travel route set in a field and conveying materials.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above prior art, it is necessary to secure a space in the field where a large work vehicle can travel. Here, depending on the crop cultivated in the field, it may be difficult to drive a work vehicle, such as when it is impossible to secure a space where the work vehicle can travel. In such a case, even during the harvesting of the crop, the work vehicle cannot be used, which may hinder the conveyance of the harvested product. Therefore, a technique that can appropriately convey the harvested product is desired even when a space where a work vehicle can travel cannot be created.

Means for Solving the Problems

[0005] The conveyance system for harvested products according to the present disclosure includes a rail network including a plurality of rails provided above a field where crops are cultivated, and a container device suspended from the plurality of rails and movable along the plurality of rails from a harvesting position where the harvested product obtained by harvesting the crop is loaded to a predetermined stop position located at the edge of the rail network.

Effects of the Invention

[0006] According to the present disclosure, the harvested product can be appropriately conveyed.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

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Figure 6

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Figure 10

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Figure 12

Modes for Carrying Out the Invention

[0008] First, the contents of the embodiment will be listed and described. [Summary of the Embodiment]

[0009] (1) The disclosed harvested product conveying system includes a rail network including a plurality of rails provided above a field where crops are cultivated, and a container device suspended from the plurality of rails and movable along the plurality of rails from a harvesting position where the harvested product obtained by harvesting the crops is loaded to a predetermined stop position located at the edge of the rail network.

[0010] According to the above configuration, since the container device suspended from the rail is movable along the rail to the stop position at the edge of the rail network, the harvested product can be conveyed to the outer edge of the field without securing a space for a vehicle to travel in the field. As a result, the harvested product can be properly conveyed.

[0011] (2) In the harvested product conveying system of (1) above, it is preferable that the container device includes a measuring unit that measures the loading amount of the harvested product to be loaded, and a moving mechanism that moves the harvested product toward the stop position when the loading amount satisfies a predetermined condition. In this case, when the loading amount reaches a certain level or more, the container device can be moved to the stop position.

[0012] (3) In the harvested product conveying system of (1) or (2) above, further comprising a tank for storing the harvested product disposed below the predetermined stop position, when the container device includes a container in which the harvested product is loaded and a transfer mechanism that drops the harvested product downward by opening and closing the bottom of the container, the tank may be provided with a receiving port for receiving the harvested product dropped from the container. In this case, the harvested product loaded in the container device at the stop position can be transferred to the tank.

[0013] (4) In the harvesting conveyance system of the harvested product of the above (1) or (2), when further including one or more harvested product transport vehicles that can be parked at a parking position provided below the predetermined stop position, it is preferable that the one or more harvested product transport vehicles include a top plate on which the container for loading the harvested product of the container device is mounted. In this case, the container loaded with the harvested product can be transported by the harvested product transport vehicle.

[0014] (5) Further, in the harvesting conveyance system of the above (4), the container device includes a moving mechanism for moving the container along the rail, and a connecting portion for detachably connecting the container and the moving mechanism. When the container is located at the predetermined stop position and the one or more harvested product transport vehicles are located at the parking position, it is preferable that the connection by the connecting portion is released. In this case, the container loaded with the harvested product can be detached from the moving mechanism and transported.

[0015] (6) In the harvesting conveyance system of the above (5), the container device may include a telescopic connecting shaft provided between the connecting portion and the moving mechanism. In this case, the container can be lowered and mounted on the harvested product transport vehicle.

[0016] (7) In the harvesting conveyance system of the above (5), the one or more harvested product transport carts may further include a lifting mechanism for lifting and lowering the top plate. In this case, after raising the top plate, the container can be mounted on the top plate.

[0017] (8) In the conveying system for any one of the harvested products (5) to (7) above, the plurality of harvested product transport vehicles include a first harvested product transport vehicle not loaded with the container and a second harvested product transport vehicle loaded with the empty container. When the first harvested product transport vehicle stops at the parking position, it receives and moves the container whose connection has been released from the container device. When the second harvested product transport vehicle stops at the parking position after the first harvested product transport vehicle has moved, the empty container may be connected to the moving mechanism by the connecting portion when the second harvested product transport vehicle stops at the parking position. In this case, after the container device separates the container loaded with the harvested product, it can connect the empty container, and the harvested product can be loaded again.

[0018] (9) Further, in the conveying system for the harvested product (1) above, it further includes a harvested product transport vehicle that can stop at a parking position provided below the predetermined stop position. When the container device includes a transfer mechanism for dropping the harvested product downward by opening and closing the bottom of the container for loading the harvested product that the container device has, the harvested product transport vehicle may be provided with a transport container having a receiving port for receiving the harvested product dropping from the container. In this case, the harvested product can be transferred to the harvested product transport vehicle and transported by the harvested product transport vehicle.

[0019] (10) In the conveying system for the harvested product (2) above, when it further includes an agricultural working device that moves along the plurality of rails, the moving mechanism is preferably configured to follow the agricultural working device until the amount of the harvested product satisfies a predetermined condition. In this case, even when the agricultural working device performs a harvesting operation while moving in the field, the agricultural working device can load the harvested product into the container device.

[0020] (11) In the conveying system for any one of the harvests (1) to (10) above, when the container device includes a measuring unit that measures the loading amount of the harvest to be loaded, the container device may further include an output unit that outputs the loading amount to the outside. In this case, the loading amount of the container device can be recognized from the outside.

[0021] (12) In the conveying system for the harvest in (11) above, when the container device further includes a detection unit that detects the state of the harvest, the output unit may output the state together with the loading amount. In this case, the state of the harvest in the container device can be recognized from the outside.

[0022] (13) From another perspective, the present disclosure is a container device. This container device is provided above a farmland where crops are cultivated, suspended from a plurality of rails that constitute a rail network, and moves along the plurality of rails. The container device includes a container in which the harvest obtained by harvesting the crops is loaded, a moving mechanism that moves the container along the rails, a measuring unit that measures the loading amount of the harvest loaded in the container, and a control unit that controls the moving mechanism so that when the loading amount satisfies a predetermined condition, the container is moved to a predetermined stop position located at the edge of the rail network and stopped.

[0023] [Details of Embodiments] Hereinafter, preferred embodiments will be described with reference to the drawings. Note that at least a part of each of the embodiments described below may be arbitrarily combined.

[0024] [Regarding the Overall Configuration of the System] FIG. 1 is a diagram showing an example of the overall configuration of an agricultural work system according to an embodiment. In FIG. 1, the agricultural work system 1 includes a solar power generation mechanism 100 installed above the farmland F. The agricultural work system 1 can perform solar power generation while cultivating crops in the farmland F by the solar power generation mechanism 100. The crop C cultivated in the farmland F is, for example, grapes.

[0025] In the farmland F, a tank 47 for storing the harvest obtained by harvesting the crop C is installed. A pomace storage tank 48 and a juice storage tank 49 are connected to the tank 47. The tank 47 has a function of separating the harvested fruit into juice and pomace by pressing. Further, the tank 47 may have the functions of a de-stemming and crushing machine and a sorting machine. In this case, the harvest is separated into a fruit stem and a fruit by a de-stemming and crushing machine, and then only the fruit is pressed. The juice and pomace separated by the tank 47 are sent to the pomace storage tank 48 and the juice storage tank 49. Note that the pomace storage tank 48 and the juice storage tank 49 may have a function of cooling the stored material. The tank 47 is installed at the edge of the farmland F. Also, the pomace storage tank 48 and the juice storage tank 49 are installed outside the farmland F.

[0026] The farming work system 1 has a function of controlling (managing) the state of the crop C in the farmland F and a function of supporting the farming work in the farmland F. In the following description, in each figure, three mutually orthogonal directions are taken as the X direction, the Y direction, and the Z direction. The Z direction is the vertical direction.

[0027] The farming work system 1 includes, in addition to the solar power generation mechanism 100, a control device 4, a gantry 6, a rail unit 7, a plurality of work units 10, and a plurality of container devices 50. The solar power generation mechanism 100 includes a plurality of solar power generation panels 2 and a plurality of elevation angle variable mechanisms. Each of the plurality of solar power generation panels 2 includes a plurality of cells 2a and a panel frame 2b. The plurality of cells 2a are arranged on the panel frame 2b. The panel frame 2b holds the plurality of cells 2a in a panel shape.

[0028] The power output by the plurality of photovoltaic panels 2 is adjusted in voltage via a DC / DC converter or the like and supplied to the power conditioner (PCS) 12. The PCS 12 converts the power from the plurality of photovoltaic panels 2 into alternating current and supplies power to the load connected to the PCS 12. Further, the PCS 12 is connected to the commercial AC power system and may supply the power from the plurality of photovoltaic panels 2 to the system. Also, each part of the system 1 is connected to the PCS 12 as a load. Therefore, the power of the plurality of photovoltaic panels 2 is supplied to each part of the system 1. That is, the PCS 12 functions as a power supply device that supplies the power generated by the photovoltaic panel 2 to the work unit 10 (agricultural work device or moving mechanism). In this case, the power generated by the photovoltaic panel 2 can be effectively utilized.

[0029] The agricultural work system 1 may include a storage battery for storing the output of the DC / DC converter. The DC power stored in this storage battery is used as the power output at a charging station described later or the DC power required in the system 1.

[0030] The pedestal 6 supports the plurality of photovoltaic panels 2. The pedestal 6 includes a plurality of columns 6a, a plurality of beam frames 6b, and a plurality of support frames 6c. The plurality of columns 6a, the plurality of beam frames 6b, and the plurality of support frames 6c are rod-shaped members made of steel materials, aluminum alloy materials, or the like. A plurality (four in the illustrated example) of columns 6a are erected along the Z direction at the edge of the field F. In FIG. 1, the columns 6a are provided at the four corners of the field F. A plurality (five in the illustrated example) of beam frames 6b are provided above the field F. The plurality of beam frames 6b extend along the Y direction. The plurality of beam frames 6b are arranged side by side in the X direction at regular intervals. On the upper part of each of the plurality of beam frames 6b, the above-described plurality of elevation angle variable mechanisms are provided. The plurality of elevation angle variable mechanisms support the solar power generation panel 2 on the beam frame 6b in such a manner that the elevation angle of the solar power generation panel 2 can be changed.

[0031] The plurality of (two in the illustrated example) support frames 6c extend along the X direction. The plurality of support frames 6c connect the tips of the plurality of beam frames 6b to each other and the tip of the support column 6a. Thereby, the plurality of beam frames 6b and the plurality of solar power generation panels 2 are supported above the farmland F.

[0032] FIG. 2 is a view showing the rail unit 7. FIG. 2 shows the gantry 6 in a state where the solar power generation mechanism 100, the beam frame 6b of the gantry 6, and the support frame 6c are removed. The rail unit 7 constitutes a track on which the plurality of work units 10 and the container device 50 travel. The rail unit 7 is provided between the plurality of solar power generation panels 2 and the ground of the farmland F. The rail unit 7 is composed of a plurality of rails 8. The plurality of rails 8 are, for example, rod-shaped members made of C-shaped steel. The plurality of rails 8 include a plurality of first rails 8a and a plurality of second rails 8b.

[0033] The plurality of (five in the illustrated example) first rails 8a extend along the Y direction. The plurality of first rails 8a are arranged side by side in the X direction at regular intervals. The plurality of (two in the illustrated example) second rails 8b extend along the X direction. The plurality of second rails 8b connect the tips of the plurality of first rails 8a to each other. Thereby, the rail unit 7 is configured in a lattice shape. In other words, the rail unit 7 is a rail network including a plurality of rails 8.

[0034] The rail unit 7 is provided with a plurality of environment detection units 14. The plurality of environment detection units 14 are provided at predetermined intervals across the entire field F. The plurality of environment detection units 14 include, for example, a temperature and humidity sensor and an air volume sensor. The environment detection unit 14 detects temperature, humidity, and air volume as the environment of the field F. The environment detection unit 14 is communicably connected to the control device 4. The output of the environment detection unit 14 is provided to the control device 4.

[0035] Further, the rail unit 7 is provided with a plurality of cameras 16. The plurality of cameras 16 are provided at predetermined intervals across the entire field F. The plurality of cameras 16 image the crops C in the field F. The plurality of cameras 16 are communicably connected to the control device 4. The image data output by the plurality of cameras 16 is provided to the control device 4.

[0036] Further, the gantry 6 is provided with a plurality of wireless communication devices 18. The plurality of wireless communication devices 18 are provided at predetermined intervals across the entire field F. The plurality of wireless communication devices 18 have a function of performing wireless communication with the work unit 10 and the container device 50. The plurality of wireless communication devices 18 are connected to the control device 4. The control device 4 can communicate with the work unit 10 and the container device 50 via the plurality of wireless communication devices 18. The plurality of wireless communication devices 18 perform communication with the work unit 10 and the container device 50, for example, by wireless LAN. That is, the plurality of wireless communication devices 18 are access points. In the following description, the plurality of wireless communication devices 18 may be referred to as access points 18. Note that FIG. 2 shows a case where the access points 18 are provided on each of the four support columns 6a. The access points 18 may be provided on the gantry 6 or on the rail unit 7.

[0037] FIG. 3 is a view showing a part of the gantry 6 including the work unit 10, the container device 50, and the solar power generation mechanism 100. As described above, the solar power generation panel 2 and the elevation angle variable mechanism 20 are provided on the beam frame 6b of the gantry 6. The beam frame 6b is provided with the elevation angle variable mechanism 20. The elevation angle variable mechanism 20 includes a pedestal 20a, a support portion 20b, and an actuator 20c. The pedestal 20a is provided on the upper surface of the beam frame 6b. The support portion 20b is provided rotatably with respect to the pedestal 20a. The support portion 20b rotates about an axis along the Y direction. The support portion 20b is fixed to the lower surface of the solar power generation panel 2. Therefore, the solar power generation panel 2 can rotate with respect to the pedestal 20a together with the support portion 20b. Thereby, the elevation angle variable mechanism 20 supports the solar power generation panel 2 so that the elevation angle of the solar power generation panel 2 can be changed. The actuator 20c drives the rotation of the support portion 20b. That is, the elevation angle of the solar power generation panel 2 can be changed by controlling the actuator 20c. The actuator 20c is controlled by the control device 4. In the present embodiment, by changing the elevation angle of the solar power generation panel 2 by the elevation angle variable mechanism 20, the amount of solar radiation in the field F and the amount of wind in the field F can be adjusted. That is, the elevation angle variable mechanism 20 constitutes an adjustment mechanism for adjusting the amount of solar radiation in the field F.

[0038] The plurality of work units 10 are suspended from the rail unit 7. The plurality of work units 10 have a function of moving along the rail 8 of the rail unit 7 to perform farming operations on the crop C in the field F or detecting the state of the crop C.

[0039] Similar to the work unit 10, the plurality of container devices 50 are also suspended from the rail unit 7. The plurality of container devices 50 have a function of loading fruits as harvested products and a function of transporting the loaded fruits by moving along the rail 8.

[0040] 〔Regarding the work unit 10 and the container device 50〕 In FIG. 3, each of the plurality of work units 10 includes a farming device 22, a moving mechanism 24, and a control box 26. The farming work device 22 has a function of performing farming work on the crop C and a function as a sensor for detecting the state of the crop C. The moving mechanism 24 has a function of moving the farming work device 22 along the rail 8.

[0041] The farming work device 22 includes an arm 30 and an end effector 32. The upper end of the arm 30 is fixed to the moving mechanism 24. The arm 30 extends downward from the moving mechanism 24. The end effector 32 is provided at the lower end of the arm 30.

[0042] The arm 30 is a manipulator capable of changing the position of the end effector 32 within a predetermined range around the moving mechanism 24. The arm 30 is a multi-joint manipulator including a plurality of joints 30a.

[0043] The end effector 32 is a device capable of performing work operations such as farming work on the crop C. The end effector 32 is arranged at the work position by the arm 30. The end effector 32 performs a work operation at the work position. The end effector 32 is detachably provided with respect to the arm 30. In the present embodiment, a plurality of types of end effectors 32 are prepared for each work operation. Therefore, the farming work device 22 can perform a plurality of types of work operations by replacing the end effector 32.

[0044] The end effector 32 includes an end effector 32 for harvesting work, an end effector 32 for pruning, an end effector 32 for watering, an end effector 32 for fertilizing, an end effector 32 for pesticide spraying, an end effector 32 for detecting the state of the crop C, and an end effector 32 for imaging.

[0045] In FIG. 3, the end effector 32a is for harvesting. The end effector 32a for harvesting can grip the fruit of the crop C and perform the fruit harvesting work. The farming operation device 22 loads the harvested fruits onto the container device 50.

[0046] The container device 50 transports the fruits harvested by the farming operation device 22 and the field workers. The fruits transported by the container device 50 are loaded by the farming operation device 22 and the workers. Each container device 50 includes a container 52, a moving mechanism 54, a control box 56, and a connecting shaft 58. The container 52 is a container in which fruits (harvested products) are loaded. The moving mechanism 54 has a function of moving the container 52 along the rail 8. The moving mechanism 54 has the same configuration as the moving mechanism 24. The connecting shaft 58 connects the moving mechanism 54 and the container 52. The control box 56 is fixed to the connecting shaft 58. The control box 56 houses a control device for controlling each part of the container device 50, a storage battery, a wireless communication device, etc.

[0047] Figure 4 is a diagram showing the moving mechanism 54. In Figure 4, the moving mechanism 54 is shown when the rail 8 is viewed from the direction along the longitudinal direction. Therefore, the rail 8 is shown as a cross-sectional view along a plane perpendicular to the longitudinal direction of the rail 8. Note that the moving mechanism 24 also has the same configuration as the moving mechanism 54. Therefore, here, only the moving mechanism 54 will be described.

[0048] As described above, the rail 8 is a C-shaped steel. Therefore, the bottom plate 8r of the rail 8 has a slit 8s along the longitudinal direction. The bottom plate 8r of the rail 8 is a member that constitutes the lower surface of the rail 8. The slit 8s communicates the inside and outside of the rail 8. The slit 8s opens downward.

[0049] The moving mechanism 54 travels in the internal space 8k of the rail 8. The moving mechanism 54 includes a main body 40, a pair of wheels 42, and a pair of motors 44. A pair of motors 44 are provided at both ends of the main body 40. The rotation axes of the pair of motors 44 are provided concentrically with each other. The pair of motors 44 are so-called in-wheel motors. Therefore, a pair of wheels 42 are integrally provided on the outer peripheral surface of the rotors (not shown) of the pair of motors 44. The pair of motors 44 constitute the axles of the pair of wheels 42 and rotationally drive the pair of wheels 42.

[0050] The main body 40 is interposed between the pair of motors 44 and integrally connects the pair of motors 44. A connecting shaft 58 is fixed to the main body 40. The connecting shaft 58 extends downward from the main body 40, passes through the slit 8s, and protrudes from the bottom plate 8r of the rail 8. The lower end of the connecting shaft 58 is connected to the container 52. The control box 56 is disposed below the rail 8. Note that the pair of motors 44 are controlled independently of each other. Therefore, the pair of motors 44 may rotate in the same direction or in opposite directions to each other.

[0051] Since the bottom plate 8r of the rail 8 has the slit 8s, the connecting shaft 58 protrudes from the bottom plate 8r of the rail 8. Also, the pair of wheels 42 are in contact with the bottom plate 8r. Thereby, the container device 50 is suspended from the rail 8. Further, when the pair of wheels 42 are rotationally driven by the pair of motors 44, the container device 50 travels on the bottom plate 8r. Thereby, the container device 50 can move along the rail 8 of the rail unit 7. The container device 50 can move on the first rail 8a and the second rail 8b included in the rail 8. Therefore, the container device 50 can move over the entire area of the rail unit 7.

[0052] FIG. 5 is a diagram for explaining the movement of the moving mechanism 54 when passing through the connecting portion between the first rail 8a and the second rail 8b. FIG. 5 shows the moving mechanism 54 when the rail 8 is viewed from above. Therefore, the rail 8 is shown as a cross-sectional view along the X-Y plane.

[0053] In FIG. 5, the moving mechanism 54 shows a state when it moves from position P1 through position P2 to position P3. Position P1 is a position on the first rail 8a. At position P1, the moving mechanism 54 is traveling along the first rail 8a toward the second rail 8b side. Therefore, at this time, the pair of motors 44 of the moving mechanism 54 rotate in the same direction.

[0054] The end 8a1 of the first rail 8a is connected to the opening 8b1 of the second rail 8b. The opening 8b1 is provided corresponding to the end 8a1. The bottom plate 8r1 of the first rail 8a and the bottom plate 8r2 of the second rail 8b are connected at the opening 8b1. Therefore, the moving mechanism 54 traveling on the first rail 8a can pass through the opening 8b1 and enter the internal space of the second rail 8b.

[0055] In addition to the slit 8s2, a connecting slit 8s3 is provided on the bottom plate 8r2 of the second rail 8b. The connecting slit 8s3 is connected at a right angle to the slit 8a2 of the second rail 8b. The connecting slit 8s3 connects the slit 8a2 of the second rail 8b and the slit 8s1 of the first rail 8a.

[0056] After passing through the opening 8b1 and entering the internal space of the second rail 8b, the moving mechanism 54 travels along the connecting slit 8s3 inside the second rail 8b and reaches the point where the slit 8s2 and the connecting slit 8s3 are connected. Position P2 is the point where the slit 8s2 and the connecting slit 8s3 are connected. When the moving mechanism 54 reaches position P2, the pair of motors 44 are controlled to rotate in opposite directions to each other. As a result, the moving mechanism 54 rotates on the spot while remaining at position P2. That is, the moving mechanism 54 changes direction while being located at position P2. When the rotation axes of the pair of motors 44 become substantially parallel in the Y direction, the moving mechanism 54 finishes changing direction, starts traveling along the slit 8s2 of the second rail 8b, and proceeds to position P3. In this way, the moving mechanism 54 passes through the connecting portion between the first rail 8a and the second rail 8b.

[0057] In this manner, the moving mechanism 54 (container device 50) can move between the first rail 8a and the second rail 8b, and can move across the entire area of the rail unit 7. In the second rail 8b, a relief portion 8c is provided at a portion facing the opening 8b1. The relief portion 8c is a portion that is recessed outward with respect to the inner surface 8d of the second rail 8b. The relief portion 8c is provided to prevent the moving mechanism 54 that changes direction at the position P2 from contacting the inner surface 8d of the second rail 8b.

[0058] In this way, in the present embodiment, by providing the rail unit 7 on the gantry 6 that supports the solar power generation panel 2, the container device 50 and the work unit 10 that can move the entire field F can be easily installed. As a result, it becomes possible to improve the efficiency of management work and farming work in the field F. Further, in the present embodiment, since the rail unit 7 is supported by the gantry 6, the rail unit 7 can be installed without separately providing a support column for instructing the rail unit 7 other than the gantry 6.

[0059] FIG. 6 is a diagram showing a main part of the container device 50. In FIG. 6, the container 52 is shown as a cross-sectional view. Further, in FIG. 6, a case where the container device 50 is located above the tank 47 is illustrated. The container device 50 moves from the loading position where fruits are loaded to a predetermined stop position. In the present embodiment, the stop position is a position corresponding to the position where the tank 47 is installed among the positions on the rail unit 7. As shown in FIGS. 1 and 2, the tank 47 is installed at the edge of the field F. Therefore, the stop position is a position on the first rail 8a located at the edge of the rail unit 7. FIG. 6 shows a case where the container device 50 is located at the stop position.

[0060] As shown in FIG. 6, the container 52 is a rectangular box-shaped container formed of a steel plate, an aluminum alloy material, or the like, and having an opening on the upper surface. The container 52 includes a side wall portion 52a, a bottom portion 52b, and a beam portion 52c. The side wall portion 52a is a rectangular tubular member that constitutes the side surface of the container 52. The side wall portion 52a includes four side plates 52a1. The fruits are introduced into the container 52 through the upper opening of the side wall portion 52a and loaded therein.

[0061] The beam portion 52c connects a pair of side plates 52a1 that face each other among the four side plates 52a1. A connecting shaft 58 is connected to the beam portion 52c. The connecting shaft 58 connects the beam portion 52c of the container 52 and the moving mechanism 54.

[0062] The bottom portion 52b is a plate-shaped member that constitutes the bottom surface of the container 52. The bottom portion 52b closes the lower opening of the side wall portion 52a. The bottom portion 52b includes a pair of bottom plates 52b1. The pair of bottom plates 52b1 are provided on a pair of side plates 52a1 parallel to the beam portion 52c. The edges of the pair of bottom plates 52b1 and the edges of the pair of side plates 52a1 are connected via hinges 57. Thereby, the pair of bottom plates 52b1 can be opened and closed about the hinges 57 as shown by the two-dot chain line in FIG. 6. When the pair of bottom plates 52b1 are in the closed state, the tip portions of the pair of bottom plates 52b1 abut against the beam portion 52c.

[0063] By opening and closing the bottom portion 52b, the fruits loaded in the container 52 can be transferred downward. The container device 50 includes a transfer mechanism 60 for transferring the fruits downward. The transfer mechanism 60 includes a locking device 60a and a closing device 60b. The locking device 60a is provided on the beam portion 52c. The locking device 60a holds or releases the tip portions of the pair of bottom plates 52b1 in the closed state. When the locking device 60a is in the holding state, the bottom 52b is in the closed state, and fruits are loaded into the container 52. When the locking device 60a switches from the holding state to the released state, the bottom 52b changes from the closed state to the open state due to the self-weight of the fruits, and the fruits fall downward. In this way, the locking device 60a of the transfer mechanism 60 transfers the fruits in the container 52 downward by opening the bottom 52b of the container 52.

[0064] The closing device 60b has a function of rotating the open bottom 52b to the closed state. The closing device 60b includes a link mechanism, an actuator, etc. for rotating the bottom 52b (the pair of bottom plates 52b1). After transferring the fruits in the container 52 downward, the closing device 60b closes the bottom 52b. Thereafter, the locking device 60a enters the holding state. As a result, the inside of the container 52 becomes empty, and it becomes possible to load fruits again.

[0065] As shown in FIG. 6, the tank 47 has a receiving port 47a for receiving fruits. The receiving port 47a is provided on the upper surface of the tank 47. Therefore, the receiving port 47a can receive the fruits falling from above.

[0066] As shown in FIG. 6, when the container device 50 is at the stop position and the locking device 60a is switched from the holding state to the released state, the fruits in the container 52 fall downward. The fallen fruits are received by the receiving port 47a of the tank 47. In this way, in the present embodiment, since the container device 50 includes a transfer mechanism 60 for dropping fruits downward and the tank 47 includes a receiving port 47a, the fruits (harvest) loaded in the container device 50 at the stop position can be transferred to the tank 47.

[0067] According to the above configuration, since the container device 50 suspended from the rail 8 can move along the rail 8 to the stop position at the edge of the rail unit 7, it is possible to transport the fruits to the outer edge of the farm field F without securing a space for a vehicle such as a tractor to travel in the farm field F. As a result, the fruits can be transported appropriately. In this way, the farming work system 1 constitutes a conveying system for the harvested products by including the rail unit 7 and the container device 50.

[0068] Also, as shown in FIG. 6, the container device 50 includes a measurement unit 62 and a detection unit 64. The measurement unit 62 has a function of measuring the loading amount of the fruits loaded in the container 52. The measurement unit 62 measures, for example, the weight of the entire container 52. By measuring the gravity of the entire container 52, the weight of the fruits loaded in the container 52 is measured as the loading amount. Note that the loading amount measured by the measurement unit 62 may be the volume occupied by the fruits in the container 52. The detection unit 64 has a function of detecting the state of the fruits loaded in the container 52. The states detected by the detection unit 64 include, for example, the sugar content, acidity, and moisture content of the fruits.

[0069] [Regarding the functional configurations of the control device 4 and the container device 50] FIG. 7 is a block diagram showing an example of the functional configurations of the control device 4 and the container device 50. The control device 4 is a computer such as a personal computer or a server. The control device 4 may be a smartphone, a tablet, etc., or may be a computer system on the cloud.

[0070] A plurality of access points 18, a plurality of environment detection units 14, a plurality of cameras 16, and a plurality of actuators 20c are connected to the control device 4. The control device 4 and these devices are communicatively connected to each other by wire or wirelessly. The control device 4 can give control commands to these devices to control them. Also, the control device 4 can receive the outputs given from these devices. The control device 4 is communicatively connected to various information servers via a network. The network may be a local network or a global network. Further, the network may be configured by combining a local network and a global network.

[0071] The control device 4 includes a processing unit 4a, a storage unit 4b, and an input / output unit 4c. The processing unit 4a is various processors suitable for computer control, such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), etc.

[0072] The storage unit 4b is, for example, a flash memory, a hard disk, a ROM (Read Only Memory), a RAM (Random Access Memory), etc. In the storage unit 4b, a computer program for causing the processing unit 4a to execute and necessary information are stored. The processing unit 4a realizes various processing functions possessed by the processing unit 4a by executing a computer program stored in a computer-readable non-transitory recording medium such as the storage unit 4b. The processing unit 4a controls the environment detection unit 14, the camera 16, the work unit 10 (farming device 22), the container device 50, etc., and has functions such as performing quality control of the crop C in the field F, causing the work unit 10 to perform farming work, and causing the container device 50 to perform fruit transportation work.

[0073] In addition, the processing unit 4a has a function of executing a process of detecting the positions of the plurality of work units 10 and the positions of the plurality of container devices 50. The processing unit 4a performs wireless LAN communication with the work unit 10 and the container device 50 via the plurality of access points 18. The processing unit 4a acquires information regarding the received signal when receiving signals from the work unit 10 and the container device 50 from the plurality of access points 18. The processing unit 4a detects the position of the work unit 10 and the position of the container device 50 based on the information regarding the received signal acquired from the plurality of access points 18. The information regarding the received signal includes RSSI (Received Signal Strength Indicator) and CSI (Channel State Information).

[0074] The plurality of access points 18 are provided at predetermined intervals across the entire field F. That is, the positions of the plurality of access points 18 are known. Therefore, by analyzing the information regarding the received signal at the plurality of access points 18, the position of the work unit 10 which is the signal source and the position of the container device 50 can be detected. The processing unit 4a detects the position of each of the plurality of work units 10. The detected positions of the work unit 10 and the container device 50 are used for the control of the work unit 10 and the container device 50. Also, the positions of the work unit 10 and the container device 50 may be given to the work unit 10 and the container device 50.

[0075] In this embodiment, since the solar power generation panel 2 is provided above the work unit 10, it may be difficult to detect the position using a GPS receiver. On the other hand, in this embodiment, since the position of the work unit 10 and the position of the container device 50 are detected using the plurality of access points 18, even if the solar power generation panel 2 is provided above, the position of the work unit 10 and the position of the container device 50 can be accurately detected.

[0076] Note that the position detection of the work unit 10 and the container device 50 may be performed by distance measurement using a laser beam, or may be performed by distance measurement using a stereo camera. In the position detection by these distance measurements, the position of the work unit 10 (container device 50) is detected by measuring the distance between the work unit 10 (container device 50) and the reference position.

[0077] Further, the processing unit 4a can also detect the position of the worker working in the field F based on the image data from the plurality of cameras 16.

[0078] The input / output unit 4c has a function of receiving an input by an operator of the control device 4 and also has a function of outputting various information. The input / output unit 4c includes, for example, input devices such as a keyboard, a mouse, and a touch panel, and output devices such as a monitor, a speaker, and a printer.

[0079] The container device 50 includes, in addition to the above-described moving mechanism 54, transfer mechanism 60, measuring unit 62, and detection unit 64, a control device 46, a storage battery 45, and a wireless communication device 43. The control device 46, the storage battery 45, and the wireless communication device 43 are housed in the control box 56. The control device 46 has a function of controlling the moving mechanism 54 and the transfer mechanism 60.

[0080] The storage battery 45 supplies power to each part of the container device 50. The wireless communication device 43 is used for wireless communication with the control device 4. The wireless communication device 43 has a function of performing wireless LAN communication with a plurality of access points 18.

[0081] The control device 46 is a computer. The moving mechanism 54, the transfer mechanism 60, the measuring unit 62, the detection unit 64, and the wireless communication device 43 are connected to the control device 46. The control device 46 can give control commands to these devices to perform control. Further, the control device 46 can receive the outputs given from these devices.

[0082] The control device 46 includes a processing unit 46a and a storage unit 46b. The processing unit 46a is various processors suitable for computer control, such as a CPU (Central Processing Unit), GPU (Graphics Processing Unit), DSP (Digital Signal Processor), FPGA (Field Programmable Gate Array), etc.

[0083] The storage unit 46b is, for example, a flash memory, a hard disk, a ROM (Read Only Memory), a RAM (Random Access Memory), etc. The storage unit 46b stores a computer program for causing the processing unit 46a to execute and necessary information. The processing unit 46a realizes various processing functions it has by executing the computer program stored in a computer-readable non-transitory recording medium such as the storage unit 46b.

[0084] The processing unit 46a has a function of controlling a pair of motors 44 of the moving mechanism 54 and moving the container device 50 to an arbitrary position within the rail unit 7. In addition, the processing unit 46a has a function of controlling the transfer mechanism 60 and transferring the fruits in the container 52 to the tank 47. Based on the mode set for the processing unit 46a, the processing unit 46a moves the container device 50 to a predetermined position within the rail unit 7 or controls the transfer mechanism 60 to transfer the fruits in the container 52.

[0085] In addition, when the processing unit 46a receives the outputs of the measurement unit 62 and the detection unit 64, it performs a process of providing these outputs to the control device 4. When the outputs of the measurement unit 62 and the detection unit 64 are provided, the processing unit 4a of the control device 4 outputs the load obtained from the output of the measurement unit 62 and the state of the fruit obtained from the output of the detection unit 64 using the output device of the input / output unit 4c. The control device 4 can notify the operator of the load of the fruit in the container 52 and the state of the fruit. Thereby, the load of the container device 50 and the state of the fruit of the container device 50 can be recognized from the outside.

[0086] In addition, the processing unit 46a acquires the power storage amount of the storage battery 45, and when it becomes smaller than a predetermined power storage amount, moves the container device 50 to a charging station. A charging station (not shown) is provided within the moving range of the container device 50. The container device 50 located at the charging station can receive charging of the storage battery 45. In this way, the processing unit 46a can charge the storage battery 45 by moving the container device 50 to the charging station.

[0087] The work unit 10 includes, in addition to the above-described agricultural work device 22 and the moving mechanism 24, a control device, a storage battery, and a wireless communication device, similar to the container device 50. The control device of the work unit 10 controls the agricultural work device 22 and the moving mechanism 24 based on a control command from the control device 4. In addition, the control device of the work unit 10 may autonomously control the agricultural work device 22 and the moving mechanism 24.

[0088] 〔Regarding the movement control of the container device 50〕 The control of the movement of the container device 50 includes a plurality of modes. The processing unit 46a of the control device 46 performs movement control of the container device 50 based on a selected mode among the plurality of modes. Note that this movement control is executed when the work unit 10 (agricultural work device 22) performs a harvesting operation on the crop C. The container device 50 performs a fruit conveying operation accompanying the harvesting operation. The container device 50 moves based on the movement control during the conveying operation.

[0089] FIG. 8 is a diagram showing an example of a mode related to the movement control of the container device 50 executed by the control device 46. The modes related to the movement control of the container device 50 include three modes: a first following mode, a second following mode, and an external control mode. The selection of the mode may be performed by the control device 4 or by the operator of the control device 4.

[0090] The first following mode is a mode in which the container device 50 follows and moves with respect to the work unit 10 (agricultural work device 22). When the first following mode is selected, the processing unit 46a follows and moves at a certain distance from the work unit 10. Thereby, the work unit 10 can load the harvested fruits into the container 52 of the container device 50.

[0091] When the loading amount detected by the measuring unit 62 satisfies a predetermined condition, the processing unit 46a moves the container device 50 to the stop position. In the present embodiment, the predetermined condition is that the loading amount exceeds a preset threshold value. When the loading amount exceeds the preset threshold value, the processing unit 46a moves the container device 50 to the stop position and transfers the loaded fruits to the tank 47. That is, in the first following mode, when the loading amount reaches a certain level or more, the container device 50 can be moved to the stop position.

[0092] In this case, the processing unit 46a autonomously controls the movement of the container device 50. The processing unit 46a requests the control device 4 for the position information of the plurality of work units 10 and the position information of the plurality of container devices 50. The processing unit 46a performs movement control based on the position information given from the control device 4.

[0093] The second following mode is a mode in which the container device 50 follows and moves with respect to the operator in the field F. When the second following mode is selected, the processing unit 46a follows and moves at a certain distance from the operator. As a result, the operator can load the harvested fruits into the container 52 of the container device 50.

[0094] Also, in the case of the second following mode, when the loading amount detected by the measuring unit 62 satisfies a predetermined condition, the processing unit 46a moves the container device 50 to the stop position and transfers the loaded fruits to the tank 47. Therefore, even in the second following mode, when the loading amount reaches a certain level or more, the container device 50 can be moved to the stop position.

[0095] Similar to the first following mode, the processing unit 46a autonomously controls the movement of the container device 50. The processing unit 46a requests the control device 4 for the position information of the operator, the position information of the plurality of work units 10, and the position information of the plurality of container devices 50. The processing unit 46a performs movement control based on the position information provided from the control device 4.

[0096] In this way, in the first following mode and the second following mode, even when the work unit 10 (agricultural work device 22) and the operator perform the harvesting work while moving in the field F, the work unit 10 and the operator can load fruits into the container device 50.

[0097] The external control mode is a mode in which the control device 4 controls the container device 50. When the external control mode is selected, the processing unit 46a controls the movement of the container device 50 based on an instruction given from the control device 4. In the case of the external control mode, the loading amount in the container 52 may be managed by the control device 4. When the loading amount satisfies a predetermined condition, the control device 4 moves the container device 50 to the stop position and transfers the loaded fruits to the tank 47. Note that in the external control mode, the operator may be configured to give an instruction to the processing unit 46a by a controller or the like.

[0098] In the present embodiment, the case where the tank 47 is provided below the stop position has been illustrated. However, as shown in FIG. 9, a transport vehicle R for transporting fruits may be configured to stop below the stop position. Below the stop position of the container device 50, a stop position for the transport vehicle R is provided. FIG. 9 shows a case where the container device 50 is located at the stop position and the transport vehicle R is located at the stop position.

[0099] The transport vehicle R is, for example, an unmanned transport vehicle such as an AGV (Automatic Guided Vehicle). In this case, the transport vehicle R that stops at the stop position includes a transport container 70. The transport container 70 has a receiving port 70a for receiving fruits. The receiving port 70a is provided on the upper surface of the transport container 70. Therefore, the receiving port 70a can receive fruits that fall from above.

[0100] When the container device 50 stops at the stop position and the transport vehicle R stops at the stop position, as shown in FIG. 9, the transport vehicle R stops below the container device 50. Here, the container device 50 drops the fruits in the container 52 downward and transfers the fruits from the container 52 to the transport vehicle R. Therefore, according to the modification shown in FIG. 13, the fruits can be transferred to the transport vehicle R and transported by the transport vehicle R.

[0101] 〔Regarding Other Embodiments〕 FIG. 10 is a diagram showing a main part of a container device 50 according to another embodiment. In FIG. 10, the container 52 is shown as a cross-sectional view. In the present embodiment, it is different from the above embodiment in that it includes a connecting portion 59 that detachably connects the container 52 and the moving mechanism 54, the connecting shaft 58 is telescopic, and a transport vehicle R is configured to stop below the stop position instead of the tank 47.

[0102] FIG. 10 shows a case where the container device 50 is in the stop position and the transport vehicle R is in the stop position. Therefore, a stop position for the transport vehicle R is provided below the stop position of the container device 50.

[0103] The side wall portion 52a and the bottom portion 52b of the container 52 of the present embodiment are integral. A protrusion 52d that is gripped by the connecting portion 59 is provided on the upper surface of the beam portion 52c. The connecting portion 59 is provided at the tip of the connecting shaft 58. The connecting portion 59 has a chuck function for gripping the protrusion 52d. The connecting portion 59 includes an actuator (not shown) that drives the gripping and release of the protrusion 52d. Therefore, the operation control of the connecting portion 59 is performed by controlling the actuator. The connecting portion 59 releasably connects the container 52 and the moving mechanism 54 by gripping and releasing the protrusion 52d.

[0104] The connecting shaft 58 has an inner cylinder portion 58a and an outer cylinder portion 58b. The inner cylinder portion 58a is inserted inside the outer cylinder portion 58b. The inner cylinder portion 58a and the outer cylinder portion 58b are relatively movable in the axial direction. The connecting shaft 58 includes an actuator (not shown) that drives the relative movement between the inner cylinder portion 58a and the outer cylinder portion 58b. The connecting shaft 58 is driven by the actuator to expand and contract. The control of the expansion and contraction operation of the connecting shaft 58 is performed by controlling the actuator.

[0105] The actuator of the connecting portion 59 and the actuator of the connecting shaft 58 can be controlled by the processing unit 46a of the control device 46. Therefore, the operation control of the connecting portion 59 and the operation control of the connecting shaft 58 are performed by the processing unit 46a. The transport vehicle R is an automated guided vehicle. A top plate Ru on which the container 52 is mounted is provided on the upper surface of the transport vehicle R. The transport vehicle R is controlled by the control device 4. Therefore, the control device 4 has the position information of the transport vehicle R.

[0106] FIG. 11 is a diagram showing a mode when a plurality of carrier vehicles R carry and exchange a container 52. In FIG. 11, the case of using the first carrier vehicle R1 and the second carrier vehicle R2 will be described. As shown in (a) in FIG. 11, the first carrier vehicle R1 and the second carrier vehicle R2 travel side by side in a single row. The first carrier vehicle R1 is not loaded with the container 52. An empty container 52 is loaded on the second carrier vehicle R2 located behind the first carrier vehicle R1. In (a) in FIG. 11, the container device 50 is at the stop position, and the first carrier vehicle R1 is at the stop position.

[0107] When the container device 50 stops at the stop position and the first carrier vehicle R1 stops at the stop position, as shown in (b) in FIG. 11, the connecting shaft 58 is extended to lower the container 52. Then, when the container 52 reaches the top plate Ru of the carrier vehicle R, the container device 50 releases the connection (grip) of the connecting portion 59. As a result, the container 52 loaded with fruits is separated from the moving mechanism 54 and mounted on the top plate Ru. The container 52 is transported by the carrier vehicle R.

[0108] After separating the container 52, the container device 50 shortens the connecting shaft 58. Thereafter, the first carrier vehicle R1 moves while carrying the container 52 loaded with fruits and leaves the stop position. When the first carrier vehicle R1 leaves the stop position, then the second carrier vehicle R2 moves to the stop position and stops. As shown in (c) in FIG. 11, when the second carrier vehicle R2 stops at the stop position, the container device 50 extends the connecting shaft 58, grips the empty container 52 mounted on the second carrier vehicle R2, and connects the empty container 52 and the moving mechanism 54.

[0109] As described above, when the first transport vehicle R1 stops at the parking position, it receives the container 52 whose connection to the container device 50 has been released and moves. The second transport vehicle R2 stops at the parking position after the first transport vehicle R1 has moved. When the second transport vehicle R2 stops at the parking position, the empty container 52 is connected to the moving mechanism 54 by the connecting portion 59. In this case, after detaching the container 52 loaded with fruits, the container device 50 can connect the empty container 52, and it becomes possible to load fruits again.

[0110] FIG. 12 is a diagram showing a main part of the container device 50 according to a modification of another embodiment. In FIG. 12, the container 52 is shown as a cross-sectional view. This modification is different from the above-described other embodiments in that the connecting shaft 58 does not expand and contract, and the top plate Ru of the transport vehicle R can move up and down in the vertical direction.

[0111] As shown in FIG. 12, the transport vehicle R includes a lifting mechanism Re for lifting and lowering the top plate Ru. The lifting mechanism Re includes a link mechanism RL and an actuator Ra. The link mechanism RL is provided between the top plate Ru and the upper surface of the vehicle body of the transport vehicle R. The link mechanism RL is configured to be expandable and contractible in the vertical direction. The actuator Ra is provided at the base end portion of the link mechanism RL and drives the expansion and contraction operation of the link mechanism RL. The actuator Ra can be controlled by the control device of the transport vehicle R. Therefore, the operation control of the lifting mechanism Re is performed by the control device of the transport vehicle R. The operation control of the lifting mechanism Re may also be performed by the control device 4 that controls the transport vehicle R. In this case, after raising the top plate Ru, the container 52 loaded with fruits can be mounted on the top plate Ru.

[0112] 〔Others〕 It should be considered that all the embodiments disclosed this time are illustrative and not restrictive in any way. For example, in the above embodiment, the case where the rail unit 7 is provided on the pedestal 6 that supports the solar power generation panel 2 is illustrated. However, the beam frame 6b and the support frame 6c of the pedestal 6, which are part of the pedestal 6, may have the function of the rail of the work unit 10. In this case, the farming work device 22 (work unit 10) can be installed without separately installing a dedicated rail other than the pedestal 6. Further, in the above embodiment, the case where the farming work system 1 includes the solar power generation panel 2 is illustrated. However, this system may not include the solar power generation panel 2.

[0113] Also, in the above embodiment, the case where the fruit of the crop C cultivated in the field F is grapes is illustrated. However, the present invention is not limited to this, and other fruit trees, vegetables, etc. may be cultivated as the crop C.

[0114] Also, in the present embodiment, the case where the elevation angle variable mechanism 20 is used as the adjustment mechanism for adjusting the solar radiation amount of the field F is illustrated. However, the adjustment mechanism may be any mechanism that can adjust the solar radiation amount of the field F. For example, the solar power generation panel 2 may be composed of a transparent panel, and as the adjustment mechanism, a film having a light control function may be used. In this case, the light control film is used by being overlaid on the transparent solar power generation panel 2. Thereby, the sunlight appropriately light-controlled by passing through the solar power generation panel 2 and the light control film is irradiated onto the field F.

[0115] The scope of the present invention is not as described above, but is indicated by the claims, and is intended to include meanings equivalent to the claims and all modifications within the scope.

Explanation of Reference Numerals

[0116] 1 Farming work system 2 Solar power generation panel 2a Cell 2b Panel frame 4 Control device 4a Processing unit 4b Storage unit 4c Input / output unit 6 pedestals 6a struts 6b beam frames 6c support frames 7 rail units 8 rails 8a first rail 8a1 end 8a2 slit 8b second rail 8b1 opening 8c relief portion 8d inner surface 8k internal space 8r bottom plate 8r1 bottom plate 8r2 bottom plate 8s slit 8s1 slit 8s2 slit 8s3 connecting slit 10 work units 14 environmental detection unit 16 cameras 18 wireless communication device (access point) 20 elevation variable mechanism 20a pedestal 20b support part 20c actuator 22 agricultural working device 24 moving mechanism 26 control box 30 arms 30a joints 32 end effectors 32a end effector 40 main body part 42 wheels 43 wireless communication device 44 motors 45 storage batteries 46 control device 46a processing part 46b memory part 47 tanks 47a receiving port 48 squeezed residue storage tank 49 fruit juice storage tank 50 Container device 52 Container 52a Side wall part 52a1 Side plate 52b Bottom 52b1 Bottom plate 52c Beam part 52d Protrusion part 54 Moving mechanism 56 Control box 57 Hinge 58 Connecting shaft 58a Inner cylinder part 58b Outer cylinder part 59 Connecting part 60 Transfer mechanism 60a Locking device 60b Closing device 62 Measuring part 64 Detecting part 70 Transport container 70a Receiving port 100 Solar power generation mechanism C Crop F Field P1 Position P2 Position P3 Position R Transport vehicle R1 First transport vehicle R2 Second transport vehicle RL Link mechanism Ra Actuator Re Lifting mechanism Ru Top plate

Claims

1. A rail network including a plurality of rails provided above a farm for cultivating crops, A container device suspended from the plurality of rails and movable along the plurality of rails from a harvesting position where the harvest obtained by harvesting the crops is loaded to a predetermined stop position located at the edge of the rail network, and comprising: A harvest conveyance system.

2. The container device includes: A measuring unit for measuring the loading amount of the harvest to be loaded, A moving mechanism for moving the harvest toward the stop position when the loading amount satisfies a predetermined condition, and comprising: The harvest conveyance system according to claim 1.

3. Further comprising a tank for storing the harvest, disposed below the predetermined stop position, The container device includes: A container in which the harvest is loaded, A transfer mechanism for dropping the harvest downward by opening and closing the bottom of the container, and comprising: The tank includes a receiving port for receiving the harvest dropping from the container. The harvest conveyance system according to claim 1.

4. Further comprising one or more harvest transport vehicles that can be parked at a parking position provided below the predetermined stop position, The one or more harvest transport vehicles include a top plate on which the container for loading the harvest of the container device is mounted. The harvest conveyance system according to claim 1.

5. The container device includes: A moving mechanism for moving the container along the rail, A connecting portion for detachably connecting the container and the moving mechanism, and comprising: When the container is located at the predetermined stop position and the one or more harvest transport vehicles are located at the parking position, the connection by the connecting portion is released. The harvest conveyance system according to claim 4.

6. The container device includes a telescopic connecting shaft provided between the connecting portion and the moving mechanism. The harvest conveyance system according to claim 5.

7. The one or more harvest transport carts further include a lifting mechanism for lifting and lowering the top plate. The harvest conveyance system according to claim 5.

8. The plurality of harvest transport vehicles include a first harvest transport vehicle on which the container is not mounted and a second harvest transport vehicle on which the empty container is mounted, The first harvest transport vehicle receives and moves the container whose connection has been released from the container device when parked at the parking position. The second harvested crop transport vehicle stops at the parking position after the first harvested crop transport vehicle has moved. When the second harvested crop transport vehicle stops at the parking position, the empty container is connected to the moving mechanism by the connecting part. The harvested crop conveying system according to claim 5.

9. The system further includes a harvested crop transport vehicle that can stop at a parking position provided below the predetermined stop position. The container device includes a transfer mechanism that drops the harvested crop downward by opening and closing the bottom of the container for loading the harvested crop that the container device has. The harvested crop transport vehicle includes a transport container having a receiving port for receiving the harvested crop that falls from the container. The harvested crop conveying system according to claim 1.

10. The system further includes an agricultural work device that moves along the plurality of rails. The moving mechanism follows the agricultural work device until the amount of the harvested crop satisfies a predetermined condition. The harvested crop conveying system according to claim 2.

11. The container device includes a measuring unit that measures the loading amount of the harvested crop to be loaded. The system further includes an output unit that outputs the loading amount to the outside. The harvested crop conveying system according to claim 1.

12. The container device further includes a detection unit that detects the state of the harvested crop. The output unit outputs the state together with the loading amount. The harvested crop conveying system according to claim 11.

13. A container device that is provided above a field where crops are cultivated, is suspended from a plurality of rails that form a rail network, and moves along the plurality of rails, a container in which the harvested crop obtained by harvesting the crop is loaded, a moving mechanism that moves the container along the rail, a measuring unit that measures the loading amount of the harvested crop loaded in the container, and a control unit that controls the moving mechanism so that when the loading amount satisfies a predetermined condition, the container is moved to a predetermined stop position located at the edge of the rail network and stopped. Container device.

Images