Rail system

Abstract

To enable an agricultural tool to also move in a direction crossing guide members such as rails.SOLUTION: A rail system comprises: a pair of fixed rails positioned between a ground surface and a plurality of solar cell panels installed in a farm field; a moving beam having both end parts self-traveling along the pair of fixed rails; and a slider self-traveling along the moving beam.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a rail system.

Background Art

[0002] Patent Document 1 describes a system in which a robot for harvesting a crop is suspended from a wire provided above the crop and moved along the wire.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In this system, by moving the robot along the wire, the robot can be moved in the longitudinal direction of the wire. However, the direction intersecting the wire is limited to the operating range of the robot's arm. Therefore, there is a risk that the robot may not reach the fruit.

[0005] In view of the above conventional problems, an object of the present disclosure is to provide a system that can move a robot or the like in a direction intersecting a guiding member such as a wire.

Means for Solving the Problems

[0006] A rail system according to an aspect of the present disclosure includes a pair of fixed rails positioned between a plurality of solar panels installed in a field and the ground, a moving beam whose both ends travel along the pair of fixed rails, and a slider that travels along the moving beam.

Effects of the Invention

[0007] According to the present disclosure, a robot or the like provided on a slider can be moved in a direction intersecting a guide member such as a fixed rail.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

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Figure 7

Figure 8

Modes for Carrying Out the Invention

[0009] <Overview of Embodiments of the Present Disclosure> Hereinafter, an overview of the embodiments of the present disclosure will be listed and described.

[0010] (1) A rail system according to an aspect of the present embodiment includes a pair of fixed rails positioned between a plurality of solar panels installed in a field and the ground, a moving beam that travels along the pair of fixed rails at both ends, and a slider that travels along the moving beam.

[0011] According to the rail system of the present embodiment, the slider can also be moved in a direction intersecting the fixed rail.

[0012] (2) In the above (1), the slider may include a slider body provided with agricultural working implements, and a slider moving device for moving the slider body.

[0013] Thereby, the agricultural working implements provided on the slider can be moved in a direction intersecting the fixed rail.

[0014] (3) In the above (1), the rail system of the present embodiment may further include a bridge rail connecting the ends of the pair of fixed rails, and when both ends of the moving beam are located at the ends of the pair of fixed rails, the moving beam is movable along the bridge rail.

[0015] Thereby, the moving beam can move to the adjacent fixed rail connected by the bridge rail, and the slider can be moved in a direction intersecting the fixed rail over a wider range.

[0016] (4) In the above (1), the moving beam may include a pair of beam moving devices for self-running on the pair of fixed rails at both ends, and a control device for controlling the pair of beam moving devices. Each of the pair of beam moving devices includes a first wheel running on the fixed rail, a second wheel arranged coaxially with the first wheel and running on the fixed rail, a first motor for driving the first wheel, and a second motor for driving the second wheel. The control device independently controls the first motor and the second motor of each of the beam moving devices.

[0017] Thereby, the moving beam can self-run along the fixed rail.

[0018] (5) In the above (1), the rail system of the present embodiment may further include a power supply device for supplying the power generated by the plurality of solar panels to the beam and the slider.

[0019] Thereby, the rail system can operate even without power supply from the outside.

[0020] (6) In the above (1), the pair of fixed rails may be a part of a gantry that supports the plurality of solar cell panels above the field.

[0021] Thereby, the height of the rail system is suppressed and the strength of the rail system is improved.

[0022] [Definition of Terms] The definitions of the terms used in this application are as follows. · Field: Refers to a place for cultivating crops, including paddy fields, farmlands, and orchards. · Solar cell panel: A panel-shaped device for generating electricity from sunlight. · Rail: An elongated steel material laid to support the wheels of a moving object and enable smooth running in a certain direction. · Beam: An elongated columnar member arranged horizontally to support some object. · Slider: A member that moves a connected object smoothly. · Reflective photosensor: A sensor provided with a light-emitting element and a light-receiving element in the same direction. The light from the light-emitting element is applied to a detection object, and the light reflected and returned is detected by the light-receiving element. · Triaxial magnetic sensor: A sensor capable of simultaneously measuring the magnetic flux density (geomagnetism) in three directions.

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

[0024] [1-1 Overall Configuration of Rail System] FIG. 1 is an overview diagram showing an example of the overview of the rail system according to this embodiment. FIG. 1 cuts off a part of the solar cell panel by the broken line A-A and shows the configuration under the solar cell panel. FIG. 2 is a perspective view of the rail system with the solar cell panel removed. FIG. 3 is an enlarged overview diagram of the cross section of FIG. 1. Here, in FIG. 1, the X direction is perpendicular to the longitudinal direction of the fixed rail 4 and parallel to the ground of the farmland 2. The Y direction in FIG. 1 is the longitudinal direction of the fixed rail 4. The Z direction in FIG. 1 is the direction perpendicular to the ground of the farmland 2. The same applies to FIGS. 2 to 4 and FIGS. 6 to 8.

[0025] As shown in FIG. 1, the rail system 1 of the present disclosure includes a pair of fixed rails 4 positioned between a plurality of solar panels 3 installed in the farmland 2 and the ground, a moving beam 5 that travels along the pair of fixed rails at both ends, and a slider 6 that travels along the moving beam.

[0026] Fruit trees such as grapes 11 are planted in the farmland 2. Hereinafter, grapes will be taken as an example for explanation, but the crops planted in the farmland are not limited to this, and include vegetables such as tomatoes and things such as tea. The farmland 2 has, for example, a square shape with a side length of 30 m, but is not limited to this. For example, it may have a shape such as a pentagon with one corner of a rectangle cut off, or it may be an inclined surface. The rail system 1 of the present application is provided in such a farmland.

[0027] As shown in FIG. 2, a plurality of fixed rails 4 are provided on the farmland 2 at equal intervals parallel to each other. Among the plurality of fixed rails 4, arbitrarily selected adjacent fixed rails 4 constitute a pair of fixed rails 4. The plurality of fixed rails 4 as a whole have a shape following the shape of the farmland, and have, for example, a square shape as shown in FIG. 2. Support columns 7 are erected at the corners of the farmland 2, and the plurality of fixed rails 4 are supported on the farmland 2 by the support columns 7. The positional relationship between the fixed rail 4 and the grapes 11 is, for example, as shown in FIG. 3, the fixed rail 4 is provided between ridges, but is not limited to this, the fixed rail 4 may be provided for each plurality of ridges, or may be provided at predetermined intervals regardless of the ridges.

[0028] On top of a plurality of fixed rails 4, a pedestal 9 for supporting the solar panel 3 is provided. The pedestal 9 has substantially the same form as the plurality of fixed rails 4 and has, for example, a rectangular shape as a whole. A support column 7 that supports the plurality of fixed rails 4 may support the pedestal 9, or a support column provided separately may support the pedestal 9.

[0029] As shown in FIG. 1, the solar panel 3 is provided on the pedestal 9 at a predetermined interval. As shown in FIG. 3, an inclination device 31 is provided on the pedestal 9, and the solar panel 3 is provided on the inclination device 31. The inclination device 31 inclines the solar panel 3.

[0030] Next, each component will be described.

[0031] The fixed rail 4 is provided between the plurality of solar panels 3 installed in the farmland 2 and the ground. The fixed rail is made of an elongated steel material, aluminum alloy material, etc., and its cross-section has, for example, a hollow rectangular shape as shown in FIG. 3, and the vicinity of the center of one side is open. The length of the fixed rail 4 has, for example, a length sufficient to cross the farmland 2. The steel material is an alloy mainly containing, for example, iron. The plurality of fixed rails 4 are arranged parallel to each other along a direction parallel to the ground. For example, the plurality of fixed rails 4 are arranged parallel to each other at an interval of 1 m, but the interval between a pair of fixed rails 4 may vary slightly depending on the shape of the ground. As shown in FIG. 2, the plurality of fixed rails 4 are connected by a bridge rail 8 that connects the ends of the fixed rails, and the overall shape of the plurality of fixed rails 4 is configured in a rectangular shape, for example.

[0032] The plurality of fixed rails 4 configured in a rectangular shape are supported by support columns 7 erected in the farmland 2. The fixed rail 4 is fixed to the support column 7 by, for example, welding or bolts and nuts. The support columns 7 are erected, for example, at the four corners of the farmland 2. The support column 7 has a shape and configuration sufficient to support the plurality of fixed rails 4 and the solar panel 3 to be supported, and is, for example, a column-shaped member made of an iron alloy. ​​​

[0033] <Solar cell panel> A single solar cell panel 3 includes one or more solar cells. The solar cells generate electricity by receiving sunlight. The solar cell panel 3 has, for example, a rectangular plate shape with a side length of about 1 m. A plurality of solar cell panels 3 are each provided on a gantry 9 via an inclination device 31. The solar cell panel 3 supplies, for example, the generated electricity to a power supply device 12 described later. The power supply device 12 supplies power to a moving beam 5 and a slider 6 described later.

[0034] <Inclination device> Based on the received command, the inclination device 31 directs the solar cell panel 3 in a predetermined direction. The command is transmitted, for example, by a server (not shown). The server transmits the command, and based on the command, the inclination device 31 directs the solar cell panel, for example, in the direction of the sun. In another example, by adjusting the direction of the solar cell panel by the server, the environment of the crops grown under the solar cell panel 3 is adjusted to an environment suitable for the crops. The environment to be adjusted is, for example, light, rain, and wind.

[0035] 〔1-2-2 Moving beam〕 FIG. 4 is an enlarged view of the fixed rail 4, the moving beam 5, and the bridge rail A when viewed from the Z direction in FIG. 1.

[0036] Both ends of the moving beam 5 travel along a pair of fixed rails 4. The moving beam 5 includes a pair of beam moving devices 32 for traveling along a pair of fixed rails at both ends, and a control device 33 for controlling the pair of beam moving devices. Specifically, the moving beam 5 is an elongated steel material, and its cross-section has a hollow rectangular shape similar to the fixed rail 4 shown in FIG. 3, for example, and is open near the center of one side. The beam length defined below is approximately equal to the rail interval defined below, but may be longer than this. Beam length: The length between the centers of the two beam moving devices provided at both ends of the moving beam Rail interval: The interval between the centers of a pair of fixed rails

[0037] When the beam length is approximately equal to the rail spacing, the longitudinal direction of the moving beam 5 may be orthogonal to the direction of self-running along the fixed rail 4. Further, when the beam length is longer than the rail spacing, the longitudinal direction of the moving beam 5 may be inclined with reference to the direction orthogonal to the longitudinal direction of the fixed rail 4. In the pair of fixed rails 4, the moving beam 5 can be inclined by causing the beam moving device 32 provided at the other end of the moving beam 5 to run ahead of the beam moving device 32 provided at one end of the moving beam 5.

[0038] Alternatively, the beam moving device 32 may be configured to be movable in the longitudinal direction of the moving beam 5. Thereby, the interval between the beam moving devices 32 provided at one end and the other end of the moving beam 5 can be made to match the rail spacing. Specifically, for example, when the moving beam 5 is at the position c in FIG. 6, the control device 33 rotates the beam moving device 32 90 degrees in place, moves it to a predetermined position in the X-axis direction, and rotates it 90 degrees in place again. Thereby, the control device 33 can make the interval between the beam moving devices 32 provided at one end and the other end of the moving beam 5 match the rail spacing.

[0039] Note that although FIG. 1 shows one moving beam 5, the present disclosure is not limited thereto, and the rail system 1 may include a plurality of moving beams 5. Thereby, the working speed can be increased. Also, a plurality of operations can be carried out simultaneously.

[0040] <Beam moving device> The beam moving device 32 is provided at both ends of the moving beam 5 and is a device for causing the moving beam 5 to self-run along the fixed rail 4. The pair of beam moving devices 32 each include a first wheel 41 that travels on the fixed rail 4, a second wheel 42 that is arranged coaxially with the first wheel 41 and travels on the fixed rail 4, a first motor 43 that drives the first wheel 41, and a second motor 44 that drives the second wheel 42.

[0041] The beam moving device 32 is arranged on the same axis as the first wheel 41, the first motor 43, the second motor 44, and the second wheel 42, as shown in the enlarged view of FIG. 4 for example. Such a motor is also called an in-wheel motor. As shown in FIG. 3, the beam moving device 32 is placed inside the fixed rail 4. The beam moving device 32 is provided with a shaft 34 for suspending and attaching the moving beam 5 at its central part. The shaft 34 passes through an opening near the center of one side of the fixed rail 4 to connect the beam moving device 32 and the moving beam 5. The first end of the shaft 34 is connected to the moving beam 5, and the second end of the shaft 34 is connected to the beam moving device 32. The connecting part on the first end side or the second end side is configured to be able to freely rotate around the central axis of the shaft 34.

[0042] The beam moving device 32 can be guided by the fixed rail 4 and move forward or backward in the Y direction of FIG. 4 by rotating the first wheel 41 and the second wheel 42 in the same direction. Since the first end side or the second end side of the shaft 34 is configured to be able to freely rotate, by rotating the first wheel 41 and the second wheel 42 in opposite directions, the beam moving device 32 can change its traveling direction on the spot without changing its position.

[0043] <Control device> The control device 33 controls the pair of beam moving devices 32 respectively and independently controls the first motor 43 and the second motor 44. The control device 33 may be configured to control the slider moving device 35 and the agricultural working implement 36 described later. The control device 33 is provided near the center of the moving beam 5, as shown in FIG. 3 for example, at a position where it does not collide with the fixed rail 4 and the bridge rail 8. The control device 33 operates by power supplied by a battery (not shown) provided in the control device 33 for example.

[0044] <Configuration of the control device> FIG. 5 is a block diagram showing an example of the hardware configuration of the control device 33. The control device 33 includes a processor 51, a memory 52, a communication interface (I / F) 53, and a plurality of input / output interfaces (I / F) 54.

[0045] <Processor> The processor 51 is, for example, a CPU (Central Processing Unit). However, the processor 51 is not limited to the CPU. The processor 51 may be a GPU (Graphics Processing Unit). The processor 51 is, for example, a multi-core processor. The processor 51 may be a single-core processor. The processor 51 may be, for example, an ASIC (Application Specific Integrated Circuit), or a programmable logic device such as a gate array or an FPGA (Field Programmable Gate Array).

[0046] <Memory> The memory 52 includes a volatile memory and a non-volatile memory. The volatile memory is, for example, a semiconductor memory such as SRAM (Static Random Access Memory) or DRAM (Dynamic Random Access Memory). The non-volatile memory is, for example, a flash memory, a hard disk, a ROM (Read Only Memory), etc. The non-volatile memory stores a control program for controlling the rail system, which is a computer program, and data used for the execution of the control program. Each function of the control device 33 is exhibited by the control program being executed by the processor 51. The control program can be stored in a recording medium such as a flash memory, a ROM, or a CD-ROM. The processor 51 controls the beam moving device 32, the slider moving device 35, and the agricultural work implement 36 according to the control program.

[0047] <Communication I / F> The communication I / F 53 is a communication interface capable of communicating with an external device via a network such as WiFi (registered trademark). The communication with the external device may be wireless communication or wired communication.

[0048] <Input / Output I / F> The input / output I / F 54 is connected to the beam moving device 32, the slider moving device 35, the agricultural working implement 36, and the position acquisition device 39 described later. The input / output I / F 54 transmits commands for controlling the devices connected thereto and receives data from the devices. For example, when a camera is connected to the agricultural working implement 36, the input / output I / F 54 transmits a command for controlling the camera and receives image data from the camera.

[0049] <Battery> The battery in the control device 33 is a secondary battery such as a lithium-ion battery, for example. The battery is charged when the moving beam 5 is at the position where the power supply device 12 shown in FIG. 1 is located. Power is transferred between the control device 33 incorporating the battery and the power supply device 12 by, for example, a wireless power feeding device. The power supply device 12 is supplied with power generated by, for example, a plurality of solar cell panels 3, but is not limited thereto, and power from a commercial power grid may be supplied.

[0050] As another example, the battery in the control device 33 is configured to be replaceable. In this case, the power supply device 12 includes a battery replacement device (not shown) for replacing the battery in the control device 33 and the battery charged in the power supply device 12. When the moving beam 5 returns to the position where the power supply device 12 is located, the power supply device 12 replaces the battery of the control device 33. After the battery is replaced, the moving beam 5 promptly starts operating. While the moving beam 5 is operating, the power supply device 12 charges the replaced battery with the power generated by the plurality of solar cell panels 3.

[0051] 〔1-2-3 Slider〕 The slider 6 travels automatically along the moving beam 5. The slider 6 includes a slider main body 37 provided with the agricultural working tool 36, and a slider moving device 35 that moves the slider main body 37.

[0052] <Slider main body> The slider main body 37 has a shape like, for example, a lunch box. The agricultural working tool 36 is provided on the slider main body 37. The agricultural working tool 36 may be configured to be detachable from the slider main body 37.

[0053] The slider moving device 35 is provided on the slider main body 37 via a shaft 38. The shaft 38 passes through an opening near the center of one side of the moving beam 5 and connects the slider moving device 35 and the slider main body 37.

[0054] The slider main body 37 is connected to a communication cable (not shown) that connects the control device 33 provided on the moving beam 5 and the slider main body 37. The control device 33 controls, for example, the agricultural working tool 36 and the slider moving device 35 via this communication cable.

[0055] <Agricultural working tool> The agricultural working tool 36 is, for example, an articulated robot arm, but is not limited thereto and may be, for example, a moving device that moves the agricultural working jig in the Z direction of FIG. 3. The first end of the agricultural working tool 36 is connected to the slider main body 37, and the second end is provided with various agricultural working jigs, and may be provided with a detaching mechanism that allows these jigs to be detached and attached. Examples of the jig include a watering member (e.g., a shower head) for spraying water, a sensor (e.g., a camera) for detecting the condition of agricultural crops, a robot hand for harvesting fruits and vegetables, scissors for pruning, a spray for spraying chemicals, a hook for carrying loads, etc.

[0056] <Slider moving device> The slider moving device 35 is guided by the moving beam 5 to move the slider 6 in the X direction in FIG. 4. The slider moving device 35 has the same configuration as the beam moving device 32, and is arranged on the same axis as the first wheel 41, the first motor 43, the second motor 44, and the second wheel 42, and is placed inside the moving beam 5 as shown in FIG. 3. The first wheel 41 and the second wheel 42 of the slider moving device 35 travel inside the moving beam 5. The slider moving device 35 is controlled by, for example, the control device 33.

[0057] [Operation of the 2-rail system] Next, the operation of the rail system 1 will be described. The rail system 1 moves the agricultural work implement 36 to a predetermined position in the farm field 2 by the self-propulsion of the moving beam 5 and the slider 6.

[0058] [Operation of the moving beam] The moving beam 5 can be moved to a predetermined position between one end and the other end of the fixed rail 4 by being controlled by the control device 33. Specifically, the control device 33 controls the first motor 43 and the second motor 44 of each beam moving device 32 provided at both ends of the moving beam 5. The first motor 43 and the second motor 44 controlled by the control device 33 rotate the first wheel 41 and the second wheel 42 respectively, and move the beam moving device 32 along the fixed rail 4.

[0059] [Identification of the position of the moving beam] The control device 33 controls the beam moving device 32 to identify the current position of the moving beam in the rail system 1 in order to move the moving beam 5 to a predetermined position. In order to identify the current position of the moving beam 5, for example, a position reading device 39 is provided on the moving beam 5. Alternatively, the position of the moving beam 5 may be detected from outside the rail system 1, and information indicating the position may be transmitted to the control device 33.

[0060] The position reading device 39 is, for example, a reflection type photosensor. In this case, a striped tape is attached to the fixed rail 4, the stripe is detected by the reflection type photosensor, and the control device 33 identifies the position of the moving beam 5 by counting the number of stripes. Alternatively, a two-dimensional barcode such as a QR code (registered trademark) may be attached to the fixed rail 4. The two-dimensional barcode includes information indicating the position where the two-dimensional barcode is attached. The position reading device 39, for example, a camera, reads the two-dimensional barcode, and the control device 33 extracts the information indicating the position from the read two-dimensional barcode, thereby identifying the position of the moving beam 5. Alternatively, the position reading device 39 may be a laser distance meter. The laser distance meter acquires the distance from the moving beam 5 to the reference point, and the position reading device 39 identifies the position of the moving beam 5. The reference point is, for example, a reflection member provided at a predetermined position on the fixed rail 4 or the bridge rail 8.

[0061] <Direction Control of the Moving Beam> The direction of the moving beam 5 is controlled so that the longitudinal direction of the moving beam 5 is orthogonal to the longitudinal direction of the fixed rail 4. The control device 33 controls (hereinafter, also referred to as controlling the beam moving device 32) the first motor 43 and the second motor 44 of each of the beam moving devices 32 to control the direction of the moving beam 5. To control the direction of the moving beam 5, the control device 33 may, for example, acquire the positions of the fixed rail 4 at both ends of the moving beam 5 by the position reading device 39 and identify the direction of the moving beam 5. Alternatively, the control device 33 may identify the direction of the moving beam 5 by a three-axis magnetic sensor.

[0062] When the beam length of the moving beam 5 is longer than the rail interval, the longitudinal direction of the moving beam 5 is inclined with reference to the direction orthogonal to the longitudinal direction of the fixed rail 4. In this case, the control device 33 controls the beam moving devices 32 at both ends of the moving beam 5 respectively to incline the direction of the moving beam 5. The control device 33 acquires the rail interval by, for example, a sensor that measures the rail interval. Alternatively, the control device 33 may acquire the rail interval by storing in the memory 52 a table showing the relationship between the position in the rail system 1 and the rail interval.

[0063] <Movement on the bridge rail> FIG. 6 is a schematic diagram showing the movement process of the moving beam on the bridge rail. The moving beam 5 can move along the bridge rail 8 when both end portions of the moving beam 5 are located at the end portions of a pair of fixed rails 4. Based on FIG. 6, the movement process of the moving beam 5 will be described.

[0064] First, it is assumed that the moving beam 5 is at the position a. The control device 33 controls each beam moving device 32 to move the moving beam 5 to the end portion of the fixed rail 4, that is, the position b.

[0065] Next, the control device 33 controls each beam moving device 32 to rotate the first wheel 41 and the second wheel 42 in opposite directions to turn the beam moving device 32 and change the traveling direction of the beam moving device 32 to the X direction in FIG. 6.

[0066] Next, the control device 33 controls the beam moving device 32 to move the moving beam 5 to the position c of the adjacent pair of fixed rails 4. It may be moved not only to the adjacent pair of fixed rails 4 but also to a pair of fixed rails 4 farther away.

[0067] Next, the control device 33 controls the beam moving device 32 to rotate the first wheel 41 and the second wheel 42 in opposite directions to turn the beam moving device 32 and change the traveling direction of the beam moving device 32 to the Y direction in FIG. 6.

[0068] Next, the control device 33 controls the beam moving device 32 to move the beam moving device 32 in the Y direction in FIG. 6 and move it to the position of d.

[0069] As described above, when both ends of the moving beam 5 are located at the ends of the pair of fixed rails 4, the moving beam 5 can move along the bridge rail 8 and move to the adjacent pair of fixed rails 4.

[0070] <Operation of the slider> The slider 6 can travel along the moving beam 5 and move to a predetermined position between one end and the other end of the moving beam 5. Specifically, the control device 33 controls the first motor 43 and the second motor 44 of the slider moving device 35 included in the slider 6. The controlled first motor 43 and second motor 44 rotate the first wheel 41 and the second wheel 42, respectively, to move the slider 6 along the moving beam 5. Thereby, the control device 33 can move the slider 6 provided with the agricultural working implement 36 to a predetermined position from one end to the other end in the longitudinal direction of the moving beam 5.

[0071] <Specification of the position of the slider> The control device 33 controls the beam moving device 32 to move the slider 6 to a predetermined position. For this purpose, the control device B5 specifies the current position of the slider 6 on the moving beam 5. In order to specify the current position of the slider 6, a position reading device 39 may be provided in the same manner as the moving beam 5.

[0072] Alternatively, stepping motors may be employed as the first motor 43 and the second motor 44 of the slider moving device 35. In this case, for example, a switch for detecting that the slider 6 is at one end of the moving beam 5 is provided at one end of the moving beam 5, and the control device 33 counts the number of drive pulses for rotating the stepping motor after the switch detects the slider 6, thereby specifying the position of the slider 6.

[0073] 〔3 Summary〕 As described above, the rail system 1 of the present disclosure moves the moving beam 5 and the slider 6 to move the slider 6 in a direction intersecting the fixed rail 4. As a result, the slider 6 equipped with the agricultural work implement 36 can also move in a direction intersecting the fixed rail 4, so that the problem that the jig for agricultural work connected to the agricultural work implement 36 cannot reach the fruit tree can be solved. In addition, since the agricultural work implement 36 can move in a direction orthogonal to the longitudinal direction of the fixed rail 4, it is not necessary to provide the fixed rail 4 for each row of crops, and the number of fixed rails 4 can be reduced, thereby reducing the cost of the rail system 1.

[0074] 〔4 Modification〕 FIG. 7 is a perspective view showing an outline of a modification of the rail system according to the present disclosure. FIG. 8 is an enlarged overview of the cross section of FIG. 7. In the above embodiment, a gantry for supporting a plurality of solar panels 3 is provided separately from the pair of fixed rails 4. In this modification, the pair of fixed rails 4 forms part of a gantry that supports a plurality of solar panels 3 above the field.

[0075] As shown in FIG. 7, in the rail system 1 of this modification, a gantry 9 is not provided separately from the fixed rail 4. FIG. 8 shows an example in which the fixed rail 4 forms part of the gantry 9. The gantry 9 is a column-shaped steel material having a rectangular cross section with one side open, and its interior functions as the fixed rail 4. The beam moving device 32 moves inside it. As another example, the fixed rail 4 may be provided in contact with the gantry 9.

[0076] Since the fixed rail 4 forms part of the gantry 9, the height of the entire rail system 1 can be suppressed. Thereby, the strength of the rail system 1 against wind and rain can be improved. In addition, since the fixed rail 4 and the gantry 9 can be constructed at once, the construction cost and construction time can be reduced.

[0077] The embodiments disclosed this time are illustrative in all respects and not restrictive. The scope of the rights of the present invention is not limited to the above-described embodiments, but includes all modifications within the scope equivalent to the configurations described in the claims.

Explanation of Signs

[0078] 1 Rail system 2 Field 3 Solar panel 4 Fixed rail 5 Moving beam 6 Slider 7 Support column 8 Bridge rail 9 Mounting base 11 Grape 12 Power supply device 31 Tilting device 32 Beam moving device 33 Control device 34 Shaft 35 Slider moving device 36 Agricultural working tool 37 Slider body 38 Shaft 39 Position reading device 41 Wheel 42 Wheel 43 Motor 44 Motor 51 Processor 52 Memory 53 Communication interface (I / F) 54 Input / output interface (I / F)

Claims

1. A pair of fixed rails positioned between a plurality of solar panels installed in a field and the ground, A moving beam whose both ends move along the pair of fixed rails, A slider that moves along the moving beam, and a rail system.

2. The slider includes A slider body provided with agricultural work tools, A slider moving device for moving the slider body, and the rail system according to Claim 1.

3. The rail system according to Claim 1, further comprising a bridge rail connecting the ends of the pair of fixed rails, The moving beam is movable along the bridge rail when both ends are located at the ends of the pair of fixed rails.

4. The moving beam includes a pair of beam moving devices for moving along the pair of fixed rails at both ends, and a control device for controlling the pair of beam moving devices. Each of the pair of beam moving devices includes A first wheel that travels on the fixed rail, A second wheel that is arranged coaxially with the first wheel and travels on the fixed rail, A first motor that drives the first wheel, A second motor that drives the second wheel, and the control device independently controls the first motor and the second motor of each of the beam moving devices.

5. The rail system according to Claim 1, further comprising a power supply device that supplies power generated by the plurality of solar panels to the beam and the slider.

6. The rail system according to Claim 1, wherein the pair of fixed rails is a part of a gantry that supports the plurality of solar panels above the field. ​ ​ ​ ​ ​

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