Agricultural work system

Abstract

To provide a technology that enables improvement of efficiency in field management work and agricultural work.SOLUTION: An agricultural work system 1 according to the present disclosure comprises: a photovoltaic power generation mechanism 100 including photovoltaic power generation panels 2 arranged above a field F; a rail 8 provided between the photovoltaic power generation panels 2 and the ground; agricultural work devices 22; and movement mechanisms 24 for moving the agricultural work devices 22 along the rail 8.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present disclosure relates to an agricultural work system.

Background Art

[0002] Patent Document 1 discloses a photovoltaic power generation facility including a photovoltaic power generation panel and a pedestal that supports this photovoltaic power generation panel above a field.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The above-described photovoltaic power generation facility enables photovoltaic power generation while performing agriculture, and enables effective utilization of the field. On the other hand, further efficiency improvement is desired in management work and agricultural work in the field. Among them, the inventor has found a new method that can improve the efficiency of management work and agricultural work in the field while attempting to effectively utilize the field by installing a photovoltaic power generation panel.

Means for Solving the Problems

[0005] The agricultural work system according to the present disclosure includes a photovoltaic power generation mechanism including a photovoltaic power generation panel arranged above a field, a rail provided between the photovoltaic power generation panel and the ground, an agricultural work device, and a moving mechanism that moves the agricultural work device along the rail.

Effects of the Invention

[0006] According to the present disclosure, it is possible to improve the efficiency of management work and agricultural work in the field.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Embodiments for Carrying Out the Invention

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

[0009] (1) The agricultural work system disclosed herein includes a solar power generation mechanism including a solar power generation panel arranged above a farm field, a rail provided between the solar power generation panel and the ground, an agricultural work device, and a moving mechanism for moving the agricultural work device along the rail.

[0010] According to the above configuration, by providing a rail on the gantry that supports the solar power generation mechanism, or by using the gantry that supports the solar power generation mechanism as a rail, an agricultural work device that can move throughout the farm field can be easily installed. As a result, it becomes possible to improve the efficiency of farm field management work and agricultural work.

[0011] (2) In the farming operation system of (1) above, the farming operation device may include an arm whose upper end is fixed to the moving mechanism, and an end effector detachably provided at the lower end of the arm. In this case, a plurality of end effectors with different executable operations can be used while being exchanged, and the farming operation device can be made to execute a plurality of operations.

[0012] (3) In the farming operation system of (1) or (2) above, the solar power generation mechanism may further include an adjustment mechanism for adjusting the solar radiation amount of the farmland. In this case, the solar radiation amount of the farmland can be adjusted.

[0013] (4) In the farming operation system of (3) above, the adjustment mechanism may include an elevation angle variable mechanism that supports the solar power generation panel so that the elevation angle of the solar power generation panel can be changed. In this case, by changing the elevation angle of the solar power generation panel, in addition to the solar radiation amount of the farmland, the air volume of the farmland can be adjusted.

[0014] (5) In the farming operation system of (4) above, when further provided with an environment detection unit for detecting the environment of the farmland, the elevation angle variable mechanism may be configured to be able to control the elevation angle based on the environment of the farmland. In this case, according to the environment of the farmland, the elevation angle of the solar power generation panel can be controlled so as to obtain an appropriate solar radiation amount and air volume for the crops in the farmland.

[0015] (6) Also, in the farming operation system of (4) above, when further provided with a state detection unit for detecting the state of the crops in the farmland, the elevation angle variable mechanism may be configured to be able to control the elevation angle based on the state of the crops. In this case, the elevation angle of the solar power generation panel can be controlled so as to obtain an appropriate solar radiation amount and air volume for the crops in the farmland.

[0016] (7) In the farming operation system of (4) above, when the end effector includes a state detection unit that detects the state of the crops in the field, it is preferable that the elevation angle variable mechanism can adjust the elevation angle based on the state of the crops. Also in this case, the elevation angle of the solar power generation panel can be controlled so as to provide an appropriate amount of solar radiation and air volume for the crops in the field.

[0017] (8) In the farming operation system of (5) above, when the arm includes a manipulator that can change the position of the end effector within a predetermined range around the moving mechanism, it is preferable that the moving mechanism and the manipulator are configured to be operably controllable based on the environment of the field. In this case, the moving mechanism and the manipulator can perform work operations according to the environment of the field.

[0018] (9) In the farming operation system of (6) above, when the arm includes a manipulator that can change the position of the end effector within a predetermined range around the moving mechanism, it is preferable that the moving mechanism and the manipulator are configured to be operably controllable based on the state of the crops. In this case, the moving mechanism and the manipulator can perform work operations according to the state of the crops.

[0019] (10) Further, in the farming operation system of (2) above, when an environment detection unit that detects the environment of the field is provided, the arm includes a manipulator that can change the position of the end effector within a predetermined range around the moving mechanism, and it is preferable that the moving mechanism and the manipulator are configured to be operably controllable based on the environment of the field. In this case, the moving mechanism and the manipulator can perform work operations according to the environment of the field.

[0020] (11) In the farming operation system of the above (2), when a state detection unit for detecting the state of the crops in the field is provided, the arm preferably includes a manipulator capable of changing the position of the end effector within a predetermined range around the moving mechanism, and the moving mechanism and the manipulator are configured to be operable to be controlled based on the state of the crops. In this case, the moving mechanism and the manipulator can perform work operations according to the state of the crops.

[0021] (12) In the farming operation system of the above (2), the work that the end effector can perform may include any one of harvesting the crops, pruning the crops, watering, fertilizing the crops, spraying pesticides, detecting the state of the crops, imaging the crops, controlling pests, and charging the equipment in the field. In this case, the farming operation device can perform a plurality of types of farming operations according to the end effector.

[0022] (13) In the farming operation system of the above (2), when another farming operation device and another moving mechanism for moving the other farming operation device along the rail are provided, the other farming operation device preferably includes another end effector capable of performing a farming operation different from the farming operation that the end effector can perform. In this case, a plurality of farming operation devices can cooperate to perform farming operations.

[0023] (14) In any one of the farming operation systems of the above (1) to (13), a power supply device for supplying the power generated by the solar power generation panel to the farming operation device or the moving mechanism may be further provided. In this case, the power generated by the solar power generation panel can be effectively utilized.

[0024] (15) In any one of the farming operation systems of the above (1) to (14), it is preferable to further provide a position detection mechanism for detecting the position of the farming operation device.

[0025] (16) In any one of the farming operation systems (6), (7), and (11) above, the state detection unit may include at least any one of a sugar concentration sensor, an acidity sensor, and an imaging device.

[0026] (17) In any one of the farming operation systems (1) to (16) above, the rail may be a part of a pedestal that supports the solar power generation panel. In this case, the moving mechanism and the farming operation device can be installed without separately installing a dedicated rail other than the pedestal.

[0027] (18) In any one of the farming operation systems (1) to (16) above, including a pedestal that supports the solar power generation panel, the rail may be supported by the pedestal. In this case, the rail can be installed without providing a support column for separately supporting the rail other than the pedestal.

[0028] [Details of the Embodiment] 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.

[0029] [Regarding the Overall Configuration of the Farming Operation System] FIG. 1 is a diagram showing an example of the overall configuration of a farming operation system according to an embodiment. In FIG. 1, a farming operation system 1 includes a solar power generation mechanism 100 installed above a farm field F. The farming operation system 1 can perform solar power generation while cultivating crops in the farm field F by the solar power generation mechanism 100. The crop C cultivated in the farm field F is, for example, grapes. In addition, the farming operation system 1 has a function of controlling (managing) the state of the crop C in the farm field F and a function of assisting farming operations in the farm field F. Note that in the following description, in each figure, three mutually orthogonal directions are defined as the X direction, the Y direction, and the Z direction. The Z direction is the vertical direction.

[0030] The farming operation system 1 includes, in addition to the solar power generation mechanism 100, a control device 4, a gantry 6, a rail unit 7, and a plurality of work units 10. 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.

[0031] The power output from the plurality of solar power generation panels 2 is voltage-adjusted via a DC / DC converter or the like and supplied to a power conditioner (PCS) 12. The PCS 12 converts the power from the plurality of solar power generation panels 2 into alternating current and supplies power to a load connected to the PCS 12. Also, the PCS 12 is connected to a commercial AC power supply system and may supply the power from the plurality of solar power generation panels 2 to the system. Moreover, each part of the system 1 is connected to the PCS 12 as a load. Therefore, the power of the plurality of solar power generation 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 solar power generation panel 2 to the work unit 10 (farming operation device or moving mechanism). In this case, the power of the solar power generation panel 2 can be effectively utilized.

[0032] Note that the farming operation 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.

[0033] The gantry 6 supports the plurality of solar power generation panels 2. The gantry 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 so that the elevation angle of the solar power generation panel 2 can be changed on the beam frame 6b.

[0034] A plurality (two in the illustrated example) of 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 tips of the columns 6a. Thereby, the plurality of beam frames 6b and the plurality of solar power generation panels 2 are supported above the field F.

[0035] FIG. 2 is a diagram 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 a plurality of work units 10 travel. The rail unit 7 is provided between the plurality of solar power generation panels 2 and the ground of the field 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.

[0036] A plurality (five in the illustrated example) of 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. A plurality (two in the illustrated example) of 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. As a result, the rail unit 7 is configured in a grid pattern. In other words, the rail unit 7 is a rail network formed by combining the rails 8.

[0037] A plurality of environment detection units 14 are provided in the rail unit 7. 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.

[0038] In addition, a plurality of cameras 16 are provided in the rail unit 7. 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.

[0039] In addition, a plurality of wireless communication devices 18 are provided on the gantry 6. 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. 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 via the plurality of wireless communication devices 18. The plurality of wireless communication devices 18 and the work unit 10 communicate with each other, for example, via a 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.

[0040] FIG. 3 is a view showing a part of the gantry 6 including the work unit 10 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 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 rotatably provided 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 farm field F and the amount of wind in the farm 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 farm field F.

[0041] 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 rails 8 of the rail unit 7 and performing farming operations on the crops C in the farm field F or detecting the state of the crops C.

[0042] 〔Regarding the work unit 10〕 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 device 22 has a function of performing farming operations on the crops C and a function as a sensor for detecting the state of the crops C. The moving mechanism 24 has a function of moving the farming device 22 along the rails 8a and 8b.

[0043] The farming operation 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.

[0044] The arm 30 is a manipulator that can change 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.

[0045] The end effector 32 is a device capable of performing work operations such as farming operations 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 operation device 22 can perform a plurality of types of work operations by replacing the end effector 32.

[0046] The work that the end effector 32 can perform includes harvesting of the crop C, pruning of the crop C, watering, fertilizing the crop C, pesticide spraying, detecting the state of the crop C, imaging the crop C, pest control, and charging the devices in the field F. Therefore, 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, an end effector 32 for imaging, an end effector 32 for pest control, and an end effector 32 for charging the devices in the field F. Note that the devices in the field F targeted by the end effector 32 for charging include, in addition to the other work units 10, agricultural work vehicles such as electric tractors and electric rovers.

[0047] In FIG. 3, the end effector 32a is for harvesting. The end effector 32a for harvesting can grip the fruit K of the crop C and perform the harvesting operation of the fruit K. In FIG. 3, the end effector 32b is for detecting the state of the crop C. The end effector 32b for state detection has a sensor 33 at its tip. The sensor 33 includes a sensor for detecting the sugar content or acidity of the crop C (fruit K) and a sensor for detecting the moisture content of the crop C. That is, the state of the crop C includes the sugar content, acidity, and moisture content. The arm 30 brings the sensor 33 of the end effector 32b for state detection close to the crop C. The sensor 33 can detect the state of the crop C at a position close to the detection target. Further, the sensor 33 also includes a camera for imaging the crop C (fruit K).

[0048] FIG. 4 is a diagram showing another example of the end effector 32. In FIG. 4, the end effector 32c is for the watering operation. The end effector 32c for the watering operation is provided with a watering nozzle 34. The end effector 32c for the watering operation supplies water to the crop C by discharging water from the watering nozzle 34. Thereby, irrigation of the crop C is performed. Further, if the end effector 32c for the watering operation is used for the supply of fertilizer, it is used as the end effector 32 for fertilization. Also, if the end effector 32c for the watering operation is used for the supply of agricultural chemicals, it is used as the end effector 32 for agricultural chemical spraying.

[0049] In FIG. 4, the end effector 32d is for pruning. The end effector 32d for pruning is provided with pruning shears 35. The end effector 32d for pruning can prune the crop C by using the pruning shears 35.

[0050] These multiple types of end effectors 32 are stored, for example, in a stocker (not shown). The stocker is installed at a position where the working unit 10 can move. When replacing the end effector 32, the working unit 10 moves to the position of the stocker. The agricultural working device 22 can replace the end effector 32 at the position of the stocker. An end effector 32 corresponding to the work to be executed is attached to the agricultural working device 22.

[0051] Thus, since the agricultural working device 22 of this embodiment includes the arm 30 fixed to the moving mechanism 24 and the end effector 32 detachably provided at the lower end of the arm 30, it can be used while replacing a plurality of end effectors 32 with different executable works, and the agricultural working device 22 can be made to execute a plurality of works.

[0052] FIG. 5 is a diagram showing the moving mechanism 24. In FIG. 5, the moving mechanism 24 is shown when viewed from the direction along the longitudinal direction of the rail 8. Therefore, the rail 8 is shown as a cross-sectional view along a plane orthogonal to the longitudinal direction of the rail 8.

[0053] 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 constituting the lower surface of the rail 8. The slit 8s communicates the inside and outside of the rail 8. The slit 8s opens downward.

[0054] The moving mechanism 24 travels in the internal space 8k of the rail 8. The moving mechanism 24 includes a main body portion 40, a pair of wheels 42, and a pair of motors 44. The pair of motors 44 are provided at both ends of the main body portion 40. The rotation shafts of the pair of motors 44 are provided concentrically with each other. The pair of motors 44 are so-called in-wheel motors. Therefore, the pair of wheels 42 are integrally provided on the outer peripheral surface of the rotor (not shown) of the pair of motors 44. The pair of motors 44 rotate and drive the pair of wheels 42 while constituting the axles of the pair of wheels 42.

[0055] The main body 40 is interposed between the pair of motors 44 and integrally connects the pair of motors 44. A connecting shaft 31 is fixed to the main body 40. The connecting shaft 31 is a member that connects the moving mechanism 24 and the arm 30. The connecting shaft 31 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 31 is connected to the arm 30. Thereby, the connecting shaft 31 connects the moving mechanism 24 and the arm 30 (the agricultural working device 22). 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.

[0056] Since the bottom plate 8r of the rail 8 has the slit 8s, the connecting shaft 31 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 work unit 10 is suspended from the rail 8. Further, when the pair of wheels 42 are rotationally driven by the pair of motors 44, the work unit 10 travels on the bottom plate 8r. Thereby, the work unit 10 can move along the rail 8 of the rail unit 7. The work unit 10 can move along the first rail 8a and the second rail 8b included in the rail 8. Therefore, the work unit 10 can move over the entire area of the rail unit 7.

[0057] FIG. 6 is a diagram for explaining the movement of the moving mechanism 24 when passing through the connecting portion between the first rail 8a and the second rail 8b. FIG. 6 shows the moving mechanism 24 when the rail 8 is viewed from above. Therefore, the rail 8 is shown as a cross-sectional view along the X-Y plane.

[0058] FIG. 6 shows the state when the moving mechanism 24 moves from position P1 to position P3 via position P2. Position P1 is a position on the first rail 8a. At position P1, the moving mechanism 24 is traveling on the first rail 8a toward the second rail 8b side. Therefore, at this time, the pair of motors 44 of the moving mechanism 24 rotate in the same direction.

[0059] 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 24 traveling on the first rail 8a can pass through the opening 8b1 and enter the internal space of the second rail 8b.

[0060] In addition to the slit 8s2, a connecting slit 8s3 is provided in 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.

[0061] After passing through the opening 8b1 and entering the internal space of the second rail 8b, the moving mechanism 24 travels inside the second rail 8b along the connecting slit 8s3 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 24 reaches position P2, the pair of motors 44 are controlled to rotate in opposite directions to each other. As a result, the moving mechanism 24 rotates in place while remaining at position P2. That is, the moving mechanism 24 changes direction while being located at position P2. When the rotation axes of the pair of motors 44 become substantially parallel to the Y direction, the moving mechanism 24 finishes changing direction, starts traveling along the slit 8s2 of the second rail 8b, and proceeds to position P3. As described above, the moving mechanism 24 passes through the connecting portion between the first rail 8a and the second rail 8b.

[0062] Thus, the moving mechanism 24 (working unit 10) can move between the first rail 8a and the second rail 8b, and can move over the entire area of the rail unit 7. In addition, 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 24 that changes direction at the position P2 from contacting the inner surface 8d of the second rail 8b.

[0063] As shown in FIG. 5, the control box 26 is fixed to the connecting shaft 31. The control box 26 houses therein a control device for controlling each part of the working unit 10, a storage battery, a wireless communication device, and the like.

[0064] Thus, in this embodiment, by providing the rail unit 7 on the gantry 6 that supports the solar power generation panel 2, the farming work device 22 (working unit 10) that can move over the entire field F can be easily installed. As a result, it becomes possible to improve the efficiency of the management work and farming work of the field F. Further, in this 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.

[0065] 〔Regarding the functional configurations of the control device 4 and the working unit 10〕 FIG. 7 is a block diagram showing an example of the functional configurations of the control device 4 and the working unit 10. 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, or the like, or may be a computer system on the cloud.

[0066] 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. Furthermore, the network may be configured by combining a local network and a global network.

[0067] The control device 4 includes a processing unit 4a and a storage unit 4b. The processing unit 4a is, for example, 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.

[0068] The storage unit 4b is, for example, a flash memory, a hard disk, a ROM (Read Only Memory), a RAM (Random Access Memory), etc. The storage unit 4b stores a computer program for causing the processing unit 4a to execute and necessary information. 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.

[0069] The processing unit 4a has a function of controlling each part of the farming operation system 1 and executing a process of performing quality control of the crop C in the field F. The quality control process will be described in detail later. In addition, the processing unit 4a has a function of executing a process for detecting the positions of a plurality of work units 10. The processing unit 4a performs wireless LAN communication with the work units 10 via a plurality of access points 18. The processing unit 4a acquires information regarding the received signal when receiving a signal from the work unit 10 from the plurality of access points 18. The processing unit 4a detects the position of the work unit 10 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).

[0070] 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 that is the signal source can be detected. The processing unit 4a detects the position of each of the plurality of work units 10. The detected position of the work unit 10 is used for quality control processing. In the present 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 the present embodiment, since the position of the work unit 10 is detected using a plurality of access points 18, the position of the work unit 10 can be accurately detected even if the solar power generation panel 2 is provided above.

[0071] Note that the position of the work unit 10 may be detected by distance measurement using a laser beam, or may be detected by distance measurement using a stereo camera. In the position detection by these distance measurements, the position of the work unit 10 is detected by measuring the distance between the work unit 10 and the reference position.

[0072] The work unit 10 includes, in addition to the above-described agricultural work device 22 and the moving mechanism 24, a control device 46, a storage battery 48, and a wireless communication device 50. The control device 46, the storage battery 48, and the wireless communication device 50 are housed in the control box 26. The control device 46 has a function of controlling the agricultural work device 22 and the moving mechanism 24.

[0073] The storage battery 48 supplies power to each part of the work unit 10. The wireless communication device 50 is used for wireless communication with the control device 4. The wireless communication device 50 has a function of performing wireless LAN communication with a plurality of access points 18.

[0074] The control device 46 is a computer. The agricultural work device 22, the moving mechanism 24, and the wireless communication device 50 are connected to the control device 46. The control device 46 can give control commands to these devices to control them. Also, the control device 46 can receive the output given from these devices.

[0075] 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), a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), etc.

[0076] 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 to be executed by the processing unit 46a and necessary information. The processing unit 46a realizes various processing functions possessed by the processing unit 46a by executing the computer program stored in a computer-readable non-transitory recording medium such as the storage unit 46b.

[0077] The processing unit 46a controls the pair of motors 44 of the moving mechanism 24 and has a function of moving the work unit 10 to an arbitrary position within the rail unit 7. Further, the processing unit 46a controls the arm 30 and the end effector 32 of the agricultural work device 22 and has a function of executing agricultural work. Based on an instruction given from the control device 4, the processing unit 46a moves the work unit 10 to a predetermined position within the rail unit 7, and controls the arm 30 and the end effector 32 to execute a predetermined work.

[0078] Further, the processing unit 46a acquires the power storage amount of the storage battery 48, and when it becomes smaller than a predetermined power storage amount, moves the work unit 10 to the charging station. A charging station (not shown) is provided within the movement range of the work unit 10. The work unit 10 located at the charging station can receive charging of the storage battery 48. Thus, the processing unit 46a can charge the storage battery 48 by moving the work unit 10 to the charging station. For example, the charging station is installed at the same position as the stocker. Therefore, the processing unit 46a moves the work unit 10 to the charging station when it determines that charging of the storage battery 48 is necessary and when it determines that replacement of the end effector 32 is necessary.

[0079] Note that the plurality of work units 10 may be equipped with end effectors 32 for performing the same work, or may be equipped with end effectors 32 for performing different works from each other. When the plurality of work units 10 are equipped with end effectors 32 for performing different works from each other, the plurality of work units 10 can cooperate to perform agricultural work.

[0080] 〔Regarding quality control processing〕 FIG. 8 is a functional block diagram showing an example of quality control processing performed by the control device 4. The processing unit 4a of the control device 4 controls so as to bring the quality of the crop C closer to the target quality. The quality to be controlled includes, for example, sugar content, disease state, and moisture content. The target quality is given by the operator of the control device 4. The target quality includes the target value and the target state of each quality.

[0081] As shown in FIG. 8, when the target quality is given, the processing unit 4a first performs state detection (step S1 in FIG. 8). State detection is a process of detecting the state of the crop C (fruit K) and the environment. The states detected by state detection include the sugar content and acidity of the crop C (fruit K), the moisture content of the crop C, the disease state of the crop C, the temperature and humidity of the field F, the air volume of the field F, and the weather of the field F.

[0082] The sugar content, acidity, and moisture content of the crop C are detected by the end effector 32b for state detection. Therefore, the processing unit 4a attaches the end effector 32b for state detection to the arm 30 of the agricultural working device 22 and causes the agricultural working device 22 (working unit 10) to perform state detection. The temperature and humidity and the air volume of the field F are detected by the environment detection unit 14. The weather of the field F is acquired from the outside, for example, from an information server connected via a network or from an input by the operator of the control device 4. The disease state of the crop C is detected by the end effector 32b for state detection and the camera 16. Therefore, the processing unit 4a attaches the end effector 32b for state detection to the arm 30 of the agricultural working device 22. In this case, the sensor 33 of the end effector 32b includes an imaging camera. The processing unit 4a causes the agricultural working device 22 (working unit 10) to image the crop C. The processing unit 4a determines whether the crop C is diseased based on the image data of the crop C captured by the sensor 33 and the camera 16. The processing unit 4a sets this determination result as the disease state of the crop C. Also, the temperature and humidity of the field F and the air volume of the field F included in the state of the field F are detected by the environment detection unit 14.

[0083] Next, the processing unit 4a performs device operation settings (step S2 in FIG. 8). The device operation settings are processes for causing each part of the system 1 to execute farming operations, environmental settings, etc. based on each state obtained by state detection. More specifically, the device operation settings include settings for the actuator 20c, selection of farming operations to be executed by the farming operation device 22, and execution of the selected farming operations. The farming operations to be selected include irrigation, fertilization, pruning, harvesting, pesticide spraying, pest control, and charging of devices in the field F. The processing unit 4a controls the actuator 20c and the work unit 10 (the farming operation device 22 and the moving mechanism 24) to execute the device operation settings. In the device operation settings, the processing unit 4a determines the position to move the work unit 10 based on the position information of the work unit 10 (the wireless communication device 50), and moves the work unit 10 (the moving mechanism 24). When the work unit 10 reaches the position to be moved, the processing unit 4a controls the farming operation device 22 to cause the farming operation device 22 to execute work.

[0084] The processing unit 4a can adjust the elevation angle of the solar power generation panel 2 by setting and controlling the actuator 20c. In addition, the processing unit 4a selects a farming operation to be executed by the farming operation device 22 from among irrigation, fertilization, pruning, harvesting, pesticide spraying, pest control, and charging of devices in the field F. When irrigation is selected, the processing unit 4a attaches the end effector 32c for water discharge work to the arm 30 of the farming operation device 22, and causes the farming operation device 22 (the work unit 10) to discharge water. Thereby, the irrigation of the field F is performed. When fertilization is selected, the processing unit 4a attaches the end effector 32c for water discharge work to the arm 30 of the farming operation device 22, and causes the farming operation device 22 (the work unit 10) to spray liquid fertilizer. Thereby, the fertilization of the field F is performed. When pruning is selected, the processing unit 4a attaches the end effector 32d for pruning to the arm 30 of the farming operation device 22, and causes pruning to be performed on the crop C at a predetermined location in the field F. When harvesting is selected, the processing unit 4a attaches a harvesting end effector 32a to the arm 30 of the agricultural working device 22 and causes the crop C (fruit K) at a predetermined location in the field F to be harvested.

[0085] When pesticide spraying is selected, the processing unit 4a attaches a water discharge end effector 32c for the spraying operation to the arm 30 of the agricultural working device 22 and causes the agricultural working device 22 (working unit 10) to spray pesticides. As a result, pesticide spraying in the field F is performed. When pest control is selected, the processing unit 4a attaches a harvesting end effector 32a or a pruning end effector 32d to the arm 30 of the agricultural working device 22, prunes the part where pests exist, or directly removes the pests attached to the crop. When charging of the devices in the field F is selected, the processing unit 4a attaches a charging end effector 32 to the arm 30 of the agricultural working device 22. At this time, the processing unit 4a attaches a storage battery in which charging power is stored to the working unit 10. The working unit 10 to which the charging end effector 32 is attached charges the devices in the field F including other working units 10 with the power stored in the storage battery. In the device operation setting, charging of the devices in the field F may always be set. In this case, the working unit 10 can receive charging from other working units 10 to which the charging end effector 32 is attached, in addition to the charging station.

[0086] When the device operation setting is executed, the processing unit 4a performs quality detection (step S3 in FIG. 8). Quality detection is a process of detecting the quality to be controlled. Therefore, quality detection includes detection of sugar content, detection of disease state, and detection of moisture content. After finishing the quality detection, the processing unit 4a compares the target quality with the detected quality by the quality detection (step S4 in FIG. 8), and based on the comparison result, performs state detection again. That is, the processing unit 4a performs feedback control on the quality of the control target. Thereafter, the processing unit 4a repeats these processes to control so that the actual quality approximates the target quality. Note that the period from when the device operation settings are made to when the quality detection is performed can be appropriately changed according to the quality of the control target.

[0087] The processing unit 4a individually controls the quality of the control target. First, the control of the sugar content will be described. When the processing unit 4a is given a target sugar content as the target quality, it performs state detection. In the state detection, the processing unit 4a detects the sugar content, acidity, temperature and humidity, air volume, weather, and moisture content. Next, the processing unit 4a performs device operation settings based on each state. In the device operation settings, the processing unit 4a performs the setting and control of the actuator 20c and adjusts the elevation angle of the solar power generation panel 2. Thereby, the processing unit 4a can adjust the amount of solar radiation reaching the ground of the field F or adjust the air volume of the field F based on the state of the field F. In addition, the processing unit 4a selects the agricultural work to be executed by the agricultural work device 22 and executes the selected agricultural work based on each state. Here, the processing unit 4a selects irrigation. That is, in the device operation settings for the control of the sugar content, the processing unit 4a performs quality control by combining the adjustment of the elevation angle of the solar power generation panel 2 and irrigation.

[0088] For example, in the coloring period of the crop C (fruit K), when the sugar content is lower than the assumed sugar content (target sugar content), the processing unit 4a can increase the amount of solar radiation by adjusting the elevation angle of the solar power generation panel 2 to accelerate the ripening of the fruit K. Also, when it is determined that there is water stress due to the moisture content, the processing unit 4a adjusts the moisture by irrigation. Conversely, when the sugar content is higher than the assumed sugar content (target sugar content), the processing unit 4a can reduce the amount of solar radiation by adjusting the elevation angle of the solar power generation panel 2 and release water to lower the temperature of the field F by irrigation.

[0089] Next, the control of the disease state will be described. When the processing unit 4a is given a disease state as the target quality, it performs state detection. In the state detection, the processing unit 4a detects the disease state. As described above, the processing unit 4a uses the determination result of whether the crop C is diseased as the disease state. Next, the processing unit 4a performs device operation setting based on the disease state. In the device operation setting, the processing unit 4a sets and controls the actuator 20c to adjust the elevation angle of the solar power generation panel 2. In addition, the processing unit 4a selects the farming operations to be executed by the farming apparatus 22 based on each state and causes the selected farming operations to be executed. Here, the processing unit 4a selects irrigation, pruning, pesticide spraying, and pest control. That is, in the device operation setting for sugar content control, the processing unit 4a performs quality control by combining the adjustment of the elevation angle of the solar power generation panel 2, irrigation, pruning, pesticide spraying, and pest control.

[0090] The processing unit 4a can, for example, prune or spray pesticides on the part determined to be in the disease state. Also, regardless of the disease state, in the case of rainfall, the processing unit 4a levels the solar power generation panel 2 to function as an umbrella for suppressing rain from hitting the crop C. This is because there is a risk that the crop C may be infected with a disease due to rain. Also, in order to promote drying after rainfall, the elevation angle of the solar power generation panel 2 can be adjusted, or the crop C can be defoliated by pruning to enhance ventilation and light collection. In addition to control such as pruning, pesticide spraying, and adjustment of the solar power generation panel 2, the processing unit 4a can also control pests by directly removing the pests adhering to the crop C.

[0091] Next, the control of the moisture content will be described. When the processing unit 4a is given a target moisture content as the target quality, it performs state detection. In the state detection, the processing unit 4a detects the temperature and humidity, air volume, weather, and moisture content. Next, the processing unit 4a performs device operation settings based on each state. In the device operation settings, the processing unit 4a sets and controls the actuator 20c to adjust the elevation angle of the solar power generation panel 2. In addition, the processing unit 4a selects the agricultural work to be executed by the agricultural work device 22 and causes the selected agricultural work to be executed based on each state. Here, the processing unit 4a selects irrigation. That is, in the device operation settings for moisture control, the processing unit 4a performs quality control by combining the adjustment of the elevation angle of the solar power generation panel 2 and irrigation.

[0092] For example, when the moisture content is more than the expected amount (target amount), the processing unit 4a can increase the solar radiation amount by adjusting the elevation angle of the solar power generation panel 2, raise the temperature of the field F, and promote the evaporation of moisture. Conversely, when the moisture content is less than the expected amount (target amount), the processing unit 4a can reduce the solar radiation amount by adjusting the elevation angle of the solar power generation panel 2, increase the shadow range in the field F, and suppress the upward movement of moisture. Furthermore, moisture can be supplied to the crop C by irrigation.

[0093] As described above, the agricultural work device 22 and the moving mechanism 24 of the present embodiment are configured to be operable to control their operations based on the environment of the field F. In addition, the agricultural work device 22 and the moving mechanism 24 of the present embodiment are configured to be operable based on the state of the crop C.

[0094] 〔Others〕 It should be considered that all aspects of the embodiments disclosed this time are illustrative and not restrictive. For example, in the above embodiment, the case where the rail unit 7 is provided on the gantry 6 that supports the solar power generation panel 2 is illustrated, but the beam frame 6b and the support frame 6c of the gantry 6, which are part of the gantry 6, may have the function of the rail of the work unit 10. In this case, the agricultural work device 22 (work unit 10) can be installed without separately installing a dedicated rail other than the gantry 6.

[0095] In the above embodiment, the case where the arm 30 of the agricultural work device 22 is an articulated manipulator has been illustrated. However, the arm 30 may be a telescopic shaft-shaped arm as long as agricultural work can be performed.

[0096] In the above embodiment, the case where the crop C (fruit K) cultivated in the field F is grapes has been illustrated. However, the present invention is not limited to this, and other fruit trees, vegetables, etc. may be cultivated as the crop C.

[0097] 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 has been 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 a film having a light control function may be used as the adjustment mechanism. 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.

[0098] The scope of the present invention is not as described above, but is shown by the claims, and it is intended that the meaning equivalent to the claims and all modifications within the scope are included.

Explanation of Signs

[0099] 1 Agricultural work system 2 Solar power generation panel 2a Cell 2b Panel frame 4 Control device 4a Processing unit 4b Storage unit 6 Mounting base 6a Support column 6b Beam frame 6c Support frame 7 Rail unit 8 Rail 8a First rail 8a1 End portion 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 Working Unit 14 Environment Detection Unit 16 Camera 18 Wireless Communication Device (Access Point) 20 Elevation Angle Variable Mechanism (Adjustment Mechanism) 20a Pedestal 20b Support Portion 20c Actuator 22 Agricultural Working Device 24 Moving Mechanism 26 Control Box 30 Arm 30a Joint 31 Connecting Shaft 32 End Effector 32a, 32b, 32c, 32d End Effector 33 Sensor 34 Drainage Nozzle 40 Main Body 42 Wheel 44 Motor 46 Control Device 46a Processing Unit 46b Memory Unit 48 Storage Battery 50 Wireless Communication Device 100 Solar Power Generation Mechanism C Crop F Field K Fruit P1 Position P2 Position P3 Position

Claims

1. A solar power generation mechanism including a solar power generation panel arranged above a field, a rail provided between the solar power generation panel and the ground, a farming work device, and a moving mechanism for moving the farming work device along the rail. A farming work system comprising the above.

2. The farming work device comprises an arm with an upper end fixed to the moving mechanism, and an end effector detachably provided at a lower end of the arm. The farming work system according to Claim 1.

3. The solar power generation mechanism further includes an adjustment mechanism for adjusting the solar radiation amount of the field. The farming work system according to Claim 2.

4. The adjustment mechanism includes an elevation angle variable mechanism for supporting the solar power generation panel in such a manner that the elevation angle of the solar power generation panel can be changed. The farming work system according to Claim 3.

5. It further includes an environment detection unit for detecting the environment of the field, and the elevation angle variable mechanism is configured to be able to control the elevation angle based on the environment of the field. The farming work system according to Claim 4.

6. It further includes a state detection unit for detecting the state of crops in the field, and the elevation angle variable mechanism is configured to be able to control the elevation angle based on the state of the crops. The farming work system according to Claim 4.

7. The end effector includes a state detection unit for detecting the state of crops in the field, and the elevation angle variable mechanism can adjust the elevation angle based on the state of the crops. The farming work system according to Claim 4.

8. The arm includes a manipulator capable of changing the position of the end effector within a predetermined range around the moving mechanism, and the moving mechanism and the manipulator are configured to be able to control their operations based on the environment of the field. The farming work system according to Claim 5.

9. The arm includes a manipulator capable of changing the position of the end effector within a predetermined range around the moving mechanism, and the moving mechanism and the manipulator are configured to be able to control their operations based on the state of the crops. The farming work system according to Claim 6.

10. It includes an environment detection unit for detecting the environment of the field, the arm includes a manipulator capable of changing the position of the end effector within a predetermined range around the moving mechanism, and the moving mechanism and the manipulator are configured to be able to control their operations based on the environment of the field. The farming work system according to Claim 2.

11. It is provided with a state detection unit for detecting the state of the crops in the field. The arm includes a manipulator capable of changing the position of the end effector within a predetermined range around the moving mechanism. The moving mechanism and the manipulator are configured to be operable to be controlled based on the state of the crops. The agricultural work system according to claim 2.

12. The operations that the end effector can perform include any one of harvesting the crops in the field, pruning the crops, watering, fertilizing the crops, spraying pesticides, detecting the state of the crops, imaging the crops, controlling pests, and charging the equipment in the field. The agricultural work system according to claim 2.

13. Another agricultural work device and Another moving mechanism for moving the other agricultural work device along the rail, are provided. The other agricultural work device is provided with another end effector capable of performing an agricultural operation different from the agricultural operation that the end effector can perform. The agricultural work system according to claim 2.

14. It further includes a power supply device for supplying the power generated by the solar power generation panel to the agricultural work device or the moving mechanism. The agricultural work system according to claim 1.

15. It further includes a position detection mechanism for detecting the position of the agricultural work device. The agricultural work system according to claim 1.

16. The state detection unit includes at least any one of a sugar content sensor, an acidity sensor, and an imaging device. The agricultural work system according to any one of claims 6, 7, and 11.

17. The rail is a part of a gantry that supports the solar power generation panel. The agricultural work system according to any one of claims 1 to 15.

18. It is provided with a gantry that supports the solar power generation panel, and the rail is supported by the gantry. The agricultural work system according to any one of claims 1 to 15.

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