Self-propelled work robot

Abstract

This self-propelled work robot (100) comprises: an operation unit (102) that is configured to be capable of operation in a plurality of operation modes; a robot body (101) that is provided to the operation unit; a travel unit (105) that causes the robot body to travel; a target detection unit (110) that is configured to be capable of detecting a prescribed target; and an operation mode switching unit (124) that switches the operation mode of the operation unit in accordance with the detected state of the target as detected by the target detection unit.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application is based on Japanese Application No. 2022-078208 filed on May 11, 2022, the contents of which are incorporated herein by reference. [Technical field]

[0002] The present disclosure relates to a self-propelled working robot. [Background technology]

[0003] In recent years, technology has been considered for using a self-propelled work robot to perform work such as harvesting on agricultural crops in a field where the crops are grown. For example, a self-propelled work robot of this type is disclosed in Patent Document 1, which has a robot arm for performing work as a working unit. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2021-101653 A Summary of the Invention

[0005] In this type of self-propelled work robot, it is considered to configure the robot arm performing work to be switchable between an operation permitted mode in which operation is permitted and an operation restricted mode in which operation is restricted. Here, for example, in a farm field, there are work areas set up assuming that the self-propelled work robot will perform work, and non-work areas set up assuming that the self-propelled work robot will not perform work. In addition to the self-propelled work robot traveling in the non-work area, there is also a possibility that people are present. Therefore, by reliably switching the robot arm to the operation restricted mode when the self-propelled work robot is present in the non-work area, it is possible to prevent the robot arm from operating unintentionally and coming into contact with people, thereby improving safety.

[0006] Therefore, the present disclosure provides a configuration that makes it possible to accurately switch the operation mode of a working unit depending on the area in which a self-propelled work robot exists.

[0007] In one aspect of the present disclosure, a self-propelled work robot includes an operating unit configured to be capable of operating in a plurality of operating modes, a robot main body unit in which the operating unit is provided, a traveling unit that causes the robot main body unit to travel, a target detection unit configured to be capable of detecting a predetermined target, and an operating mode switching unit that switches the operating mode of the operating unit depending on the detection status of the target by the target detection unit.

[0008] According to the self-propelled work robot of the present disclosure, the operation mode of the operation unit can be switched depending on the detection status of the target by the target detection unit. As a result, for example, by providing a target within an area in which it is desired to switch the operation mode of the operation unit, the operation mode of the operation unit can be switched with high accuracy depending on the area in which the self-propelled work robot is located. [Brief description of the drawings]

[0009] The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: [Figure 1] FIG. 1 is a diagram illustrating a schematic configuration example of a farm field according to a first embodiment; [Diagram 2] FIG. 2 is a diagram illustrating an example of the configuration of a self-propelled working robot according to a first embodiment; [Diagram 3] FIG. 3 is a diagram illustrating an example of a state in which an obstacle detection area is switched to an outside-lane pattern according to the first embodiment; [Figure 4] FIG. 4 is a diagram illustrating an example of a state in which an obstacle detection area is switched to an in-lane pattern according to the first embodiment; [Diagram 5]FIG. 5 is a perspective view showing a schematic configuration example of a hot water pipe detection sensor according to the first embodiment; [Figure 6] FIG. 6 is a diagram illustrating an example of a state of the hot water pipe detection sensor in a non-detection state according to the first embodiment. [Figure 7] FIG. 7 is a diagram illustrating an example of a state of the hot water pipe detection sensor in a detection state according to the first embodiment. [Figure 8] FIG. 8 is a block diagram illustrating a schematic configuration example of a control device according to the first embodiment; [Figure 9] FIG. 9 relates to the first embodiment and is a diagram showing an example of a correspondence relationship between detection states of sensors and modes of each unit. [Figure 10] FIG. 10 is a diagram illustrating a second embodiment of the present invention, which is a schematic diagram illustrating an example of a state in which the hot water pipe is not tilted. [Figure 11] FIG. 11 is a diagram relating to the second embodiment, and is a schematic diagram showing an example of a state in which the hot water pipe is inclined. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, multiple embodiments of the self-propelled work robot according to the present disclosure will be described with reference to the drawings. Note that elements that are substantially the same in multiple embodiments will be given the same reference numerals, and descriptions thereof will be omitted.

[0011] (First embodiment) A self-propelled work robot 100 according to the present disclosure can be used to perform tasks such as harvesting crops T in a farm field 10 as illustrated in Fig. 1. The farm field 10 may also be called, for example, a vinyl greenhouse or a plant factory. In this case, the farm field 10 is provided with a plurality of cultivation sections 11, a plurality of hot water pipes 12, a plurality of tracing lines 13, and the like.

[0012] Each of the cultivation sections 11 has a plurality of cultivation equipment 11a. The cultivation equipment 11a is equipment for cultivating the crops T to be harvested by the self-propelled work robot 100. The cultivation equipment 11a is supported by support members 11b such as pillars in the cultivation section 11. In one cultivation section 11, the plurality of cultivation equipment 11a are arranged in a straight line along the longitudinal direction of the cultivation section 11. One cultivation section 11 extends in one direction over a predetermined distance, for example, about 10 meters to several tens of meters. In the farm field 10, the plurality of cultivation sections 11 are arranged so as to be parallel to each other. The plurality of cultivation sections 11 are arranged at intervals from each other. In this case, the intervals between the plurality of cultivation sections 11 are equal. The intervals between the plurality of cultivation sections 11 may be unequal.

[0013] The hot water pipe 12 is provided between two adjacent cultivation sections 11. The hot water pipe 12 is formed by bending a long tubular material into a so-called U-shape, and extends along each cultivation section 11. Hot water can be made to flow through the hot water pipe 12 from a hot water supply facility (not shown). By having hot water flow through the hot water pipe 12, the temperature in the field 10, particularly the temperature in the area surrounding the cultivation section 11, can be raised to an appropriate temperature. The hot water pipe 12 is provided in the field 10 as an example of a predetermined target.

[0014] The trace line 13 is installed, for example, by sticking, printing, or drawing on the floor surface of the field 10, and connects between multiple hot water pipes 12. The area of ​​the field 10 in which the hot water pipes 12 are installed is defined as the work area R1. The area of ​​the field 10 other than the work area R1 and connecting multiple work areas R1, in this case the area in which the trace line 13 is installed, is defined as the non-work area R2. The non-work area R2 is included in the path along which the self-propelled work robot 100 travels when not working.

[0015] Working area R1 is basically an area that is set up on the assumption that work will be performed by the self-propelled work robot 100, and is also set up on the assumption that no people, such as the manager of the farm field 10 or the user of the self-propelled work robot 100, will be present. In other words, working area R1 can basically be defined as a non-coexistence area that is set up on the assumption that the self-propelled work robot 100 and people will not coexist.

[0016] On the other hand, non-working area R2 is an area that is set up on the assumption that no work will be performed by the self-propelled work robot 100, and is also set up on the assumption that people, such as the manager of the farm field 10 or the user of the self-propelled work robot 100, will be present. In other words, non-working area R2 can basically be defined as a coexistence area that is set up on the assumption that the self-propelled work robot 100 and people will coexist.

[0017] Additionally, multiple markers 14, 15 are provided within the field 10. In this case, the markers 14, 15 are provided at the boundary between the work area R1 and the non-work area R2, or at the branching point of the trace line 13. To explain in more detail, in this case, the marker 14 is provided in the vicinity of the boundary between the work area R1 and the non-work area R2, at a position within the non-work area R2 just before entering the work area R1. Additionally, the marker 15 is provided at a branching point where the trace line 13, which is provided in a straight line across the multiple work areas R1, branches off to each of the work areas R1.

[0018] The markers 14, 15 are installed, for example, by sticking, printing, drawing, or the like on the floor surface of the farm field 10, and can be photographed by the camera 104 equipped on the self-propelled work robot 100. Note that the markers 14, 15 can also be configured as an information transmission medium capable of transmitting information non-contact by, for example, magnetism, radio waves, images, sound waves, or other methods. Specifically, the markers 14, 15 can be configured as, for example, RFID, two-dimensional codes, magnetic markers, etc.

[0019] Next, a configuration example of the self-propelled working robot 100 will be described in detail. As illustrated in Fig. 2, the self-propelled working robot 100 is equipped with a robot arm 102 on top of a robot main body 101 that constitutes the base part of the robot. The robot arm 102 is an example of a moving part. The robot arm 102 is configured by combining multiple movable arms, that is, has a so-called multi-axis configuration. Therefore, a so-called six-axis robot arm or four-axis robot arm can be used as the robot arm 102.

[0020] The robot arm 102 is provided with a harvesting tool 103 and a camera 104 at its tip. The harvesting tool 103 is provided as an example of a working unit that performs a predetermined operation, in this case, harvesting work of the agricultural crops T. By providing the robot arm 102 with such a harvesting tool 103 for harvesting agricultural crops, the robot arm 102 is configured as an operating unit that can perform harvesting work, which is an example of agricultural work. Note that the working unit that can be provided on the robot arm 102 is not limited to the harvesting tool 103, and may be, for example, a tool that performs agricultural work other than harvesting work, or a tool that performs work other than agricultural work.

[0021] The camera 104 is an example of an imaging unit, and is configured to be able to capture images of, for example, the trace line 13 and the markers 14, 15 that are provided in the farm field 10. The self-propelled work robot 100 is able to travel autonomously while determining its current position based on the trace line 13 and the markers 14, 15 captured by the camera 104.

[0022] The robot arm 102 is configured to be operable in a plurality of operation modes. In this case, the robot arm 102 is configured to be switchable between at least an operation permitted mode in which operation is permitted, and an operation restricted mode in which operation is restricted.

[0023] The operation allowable mode is an operation mode in which the robot arm 102 is permitted to perform a harvesting operation of the crops T with the harvesting tool 103 and a photographing operation with the camera 104 while moving the multiple movable arms.

[0024] On the other hand, the operation restriction mode is an operation mode in which the robot arm 102 is restricted from performing a harvesting operation of the crops T with the harvesting tool 103 and from performing a photographing operation with the camera 104 while moving the multiple movable arms. In this case, the restriction imposed by the operation restriction mode is intended to restrict or stop the operation of the robot arm 102. However, for example, if sufficient safety is ensured, the restriction imposed by the operation restriction mode may be set to allow some operation of the robot arm 102.

[0025] The self-propelled working robot 100 also includes a running unit 105 on the bottom of the robot main body 101. The running unit 105 includes a pair of drive wheels 106 and a number of driven wheels 107. The drive wheels 106 are an example of wheels. Although detailed illustration is omitted, the drive wheels 106 are configured to be rotated by a drive source such as a motor via a reduction gear, for example. The running unit 105 mainly rotates the drive wheels 106 to cause the robot main body 101 and thus the entire self-propelled working robot 100 to run. The driven wheels 107 rotate as the robot main body 101 runs due to the drive wheels 106, and support and stabilize the running of the robot main body 101 and thus the running of the entire self-propelled working robot 100.

[0026] The robot main body unit 101 has a generally long rectangular shape overall, and the traveling unit 105 causes the robot main body unit 101, and therefore the entire self-propelled work robot 100, to travel along the longitudinal direction of the robot main body unit 101. In other words, the traveling direction of the robot main body unit 101, and therefore the entire self-propelled work robot 100, is along the longitudinal direction of the robot main body unit 101 in this case.

[0027] Furthermore, within work area R1, robot main body 101 of self-propelled work robot 100 travels on hot water pipe 12 by running part 105. Furthermore, within work area R1, self-propelled work robot 100 travels with the longitudinal direction of robot main body 101 aligned with the extension direction of hot water pipe 12. Therefore, within field 10, hot water pipe 12 is in an extended state along the traveling direction of robot main body 101 by running part 105.

[0028] The self-propelled working robot 100 also includes a disinfection unit 108. The disinfection unit 108 is an example of a disinfection section, and is configured to be able to spray a disinfectant from a nozzle (not shown) in a disinfection box with an open top. The disinfection unit 108 is configured to be able to disinfect the harvesting tool 103 by spraying the disinfectant when the robot arm 102 moves the harvesting tool 103 at the tip end into the disinfection box of the disinfection unit 108.

[0029] The self-propelled working robot 100 is also provided with a plurality of obstacle detection sensors 109, in this case two. The obstacle detection sensors 109 are disposed in a distributed manner at the front and rear of the robot main body 101 in the direction of travel. The obstacle detection sensors 109 are provided as an example of an obstacle detection unit for detecting obstacles present around the robot main body 101. The obstacle detection sensors 109 are, for example, configured with a laser sensor or an ultrasonic sensor that detects obstacles present in the surroundings. Examples of obstacles that the obstacle detection sensors 109 detect include the cultivation equipment 11a, support members 11b, people, various types of equipment, and the like present in the farm field 10. It is preferable that the obstacle detection sensors 109 are configured with sensors that have acquired a predetermined safety certification.

[0030] The self-propelled working robot 100 also has multiple, in this case two, hot water pipe detection sensors 110. The hot water pipe detection sensors 110 are also distributed and arranged at the front and rear of the robot main body 101 in the direction of travel. The hot water pipe detection sensors 110 are provided as an example of a target detection unit, and in this case, are configured to be able to detect the hot water pipe 12, which is an example of a target installed in the field 10. A detailed explanation of the configuration and functions of the hot water pipe detection sensor 110 will be given later. It is preferable that the hot water pipe detection sensor 110 is configured from a sensor that has obtained a predetermined safety certification.

[0031] Self-propelled work robot 100 also includes a control device 120. Control device 120 is mainly composed of a microcomputer, for example, and controls the overall operation of self-propelled work robot 100 based on a control program, setting data, and the like.

[0032] 3 and 4, one of the two obstacle detection sensors 109 is disposed at one end in the short side direction of the robot main body unit 101 at the front of the robot main body unit 101. The other of the two obstacle detection sensors 109 is disposed at the other end in the short side direction of the robot main body unit 101 at the rear of the robot main body unit 101.

[0033] The driving wheel 106 of the running unit 105 is configured by combining a large wheel portion 106a and a small wheel portion 106b coaxially. The large wheel portion 106a is a large-diameter wheel that constitutes the main body of the driving wheel 106. On the other hand, the small wheel portion 106b is a wheel with a smaller diameter than the large wheel portion 106a. The large wheel portion 106a and the small wheel portion 106b share a common rotation axis, and therefore the large wheel portion 106a and the small wheel portion 106b rotate together.

[0034] When the self-propelled work robot 100 travels in areas within the field 10 other than the working area R1, it travels with the large wheel portion 106a in contact with the floor surface of the field 10. At this time, the small wheel portion 106b is not in contact with the floor surface of the field 10 but is separated from it. Therefore, when the self-propelled work robot 100 travels in areas within the field 10 other than the working area R1, it travels mainly by rotating the large wheel portion 106a.

[0035] However, when the self-propelled work robot 100 travels within the work area R1 in the field 10, it travels on the hot water pipe 12 as described above. At this time, as illustrated in Figure 4, the self-propelled work robot 100 travels with the small wheel portion 106b in contact with the upper surface of the hot water pipe 12. Also, at this time, the large wheel portion 106a is not in contact with the floor surface of the field 10 but is separated from it. Therefore, when the self-propelled work robot 100 travels within the work area R1 in the field 10, it travels mainly by rotating the small wheel portion 106b.

[0036] Next, a configuration example of the hot water pipe detection sensor 110 will be described in more detail. As shown in Fig. 5, the hot water pipe detection sensor 110 includes a non-contact switch 111 and a shielding plate 112. The non-contact switch 111 is configured to switch between an on state and an off state in response to, for example, an optical or magnetic state change. The shielding plate 112 is provided on the side of the non-contact switch 111 so as to be rotatable in the vertical direction.

[0037] In this case, the shielding plate 112 is capable of rotating between a non-detection position in which the non-contact switch 111 is exposed without being covered, as illustrated in FIG. 6, and a detection position in which the non-contact switch 111 is covered, as illustrated in FIG. 7.

[0038] The shielding plate 112 is biased by a biasing member 113 formed of, for example, a compression coil spring so as to rotate from the detection position side illustrated in Fig. 7 to the non-detection position side illustrated in Fig. 6. A support wheel 114 is rotatably provided on the lower end of the shielding plate 112.

[0039] As shown in FIG. 6, when the self-propelled work robot 100 is not on the hot water pipe 12, the shielding plate 112 receives a biasing force from the biasing member 113 and rotates to the non-detection position. This causes the non-contact switch 111 to enter a non-detection state in which the hot water pipe 12 is not being detected. On the other hand, as shown in FIG. 7, when the self-propelled work robot 100 is on the hot water pipe 12, the shielding plate 112 is pushed upward by the hot water pipe 12 via the support wheels 114, and rotates to the detection position against the biasing force from the biasing member 113. This causes the non-contact switch 111 to enter a detection state in which the hot water pipe 12 is detected.

[0040] With this configuration, the hot water pipe detection sensor 110 is configured to be able to detect the hot water pipe 12, which is an example of a target, based on the non-contact switch 111 switching between a detection state and a non-detection state.

[0041] Next, a configuration example of the control system of self-propelled working robot 100 will be described in more detail. As shown in Fig. 8, control device 120 executes a control program to virtually realize an operation control unit 121, a travel control unit 122, a safety monitoring unit 123, an operation mode switching unit 124, a detection area switching unit 125, and a form switching unit 126 through software. These processing units may be configured as hardware, or may be configured as a combination of software and hardware.

[0042] The operation control unit 121 is configured to be able to control the overall operation of the self-propelled work robot 100. Moreover, the operation control unit 121 controls the overall operation of the entire robot arm 102 while recognizing the posture, speed, position, and the like of each part of the robot arm 102. Moreover, the operation control unit 121 controls the overall harvesting operation by the harvesting tool 103. Moreover, the operation control unit 121 controls the overall shooting operation by the camera 104.

[0043] More specifically, the operation control unit 121 analyzes the image captured by the camera 104 to recognize the position and posture of the crop T, which is the object of work, and identifies the cutting point. Then, the operation control unit 121 operates the robot arm 102 so that the harvesting tool 103 reaches the identified cutting point. Then, the operation control unit 121 operates the harvesting tool 103 at the identified cutting point. In this way, the operation control unit 121 is configured to be able to harvest the crop T, which is the object of work, by the robot arm 102 equipped with the harvesting tool 103 and the camera 104. Note that the self-propelled work robot 100 may be configured to include a collection box for collecting the crop T harvested by the robot arm 102.

[0044] The travel control unit 122 is configured to be able to control the travel of the robot main body 101 by the travel unit 105, and therefore the entire self-propelled work robot 100. The travel control unit 122 is connected to, for example, an encoder, an angle sensor, a rotation speed sensor that measures the rotation speed of the motor, and the like. Based on the control by the travel control unit 122, the travel unit 105 is configured to be able to switch the rotation speed of the drive wheels 106 that move the robot main body 101 and therefore the entire self-propelled work robot 100, depending on the detection status of the hot water pipe 12 by the hot water pipe detection sensor 110. In other words, the travel unit 105 is configured to be able to switch the movement speed of the robot main body 101 and therefore the entire self-propelled work robot 100.

[0045] To explain in more detail, as described above, when the self-propelled work robot 100 travels in areas other than the working area R1 in the field 10, it travels mainly by rotating the large wheel portion 106a. On the other hand, when the self-propelled work robot 100 travels within the working area R1 in the field 10, it travels mainly by rotating the small wheel portion 106b. Therefore, if the drive wheels 106 were rotated at the same rotational speed regardless of the area in which the self-propelled work robot 100 travels, the movement speed of the self-propelled work robot 100 would be relatively faster when traveling in areas other than the working area R1, and the movement speed of the self-propelled work robot 100 would be relatively slower when traveling within the working area R1.

[0046] Therefore, for example, when it is desired to make the self-propelled work robot 100 travel within the working area R1 at a moving speed equivalent to that in areas other than the working area R1, the travel control unit 122 may increase the rotational speed of the drive wheels 106.

[0047] The travel control unit 122 is configured to be able to switch the travel unit 105 to at least a harvest mode, an aisle travel mode, and a transition mode.

[0048] The harvest mode is a travel mode that assumes that the self-propelled work robot 100 travels within the work area R1, and allows the self-propelled work robot 100 to travel at a predetermined high speed. Note that the predetermined high speed can be changed and set as appropriate within a speed range that ensures sufficient safety.

[0049] The passageway driving mode is a driving mode that assumes that the self-propelled work robot 100 will travel in areas other than the work area R1, and it is possible to drive and stop the self-propelled work robot 100 at a prescribed low speed. Note that the prescribed low speed can be changed and set as appropriate within a speed range that ensures sufficient safety and is lower than the above-mentioned prescribed high speed.

[0050] The transition mode is a travel mode designed for cases where the self-propelled work robot 100 is moved from outside the working area R1 into the working area R1, and cases where the self-propelled work robot 100 is moved from inside the working area R1 to outside the working area R1, and allows the self-propelled work robot 100 to travel at a predetermined low speed. The predetermined low speed in the transition mode is designed to be even slower than the predetermined low speed in the aisle traveling mode. However, the predetermined low speed in the transition mode may be the same as the predetermined low speed in the aisle traveling mode, or may be slightly faster than the predetermined low speed in the aisle traveling mode.

[0051] The safety monitoring unit 123 is configured to be able to monitor whether or not the behavior of at least the robot arm 102 and the traveling unit 105 is in a safe state. The safety monitoring unit 123 is also configured to be able to monitor whether or not the behavior of the self-propelled work robot 100 as a whole is in a safe state. The safety monitoring unit 123 functions as a control unit that controls the behavior of the robot arm 102, the traveling unit 105, and further the self-propelled work robot 100 as a whole. Note that a safe state can be set as an appropriate state, assuming that at least the self-propelled work robot 100 will not cause harm to people. Note that the safety monitoring unit 123 is desirably configured by a control unit that has obtained a predetermined safety certification.

[0052] The operation mode switching unit 124 is configured to be able to switch the operation mode of the robot arm 102 depending on the detection state of the hot water pipe 12 by the hot water pipe detection sensor 110. The operation mode switching unit 124 is configured to switch the operation mode of the robot arm 102 from the operation restriction mode to the operation allowable mode when the hot water pipe detection sensor 110 detects the hot water pipe 12. The operation mode switching unit 124 is also configured to switch the operation mode of the robot arm 102 from the operation allowable mode to the operation restriction mode when the hot water pipe detection sensor 110 does not detect the hot water pipe 12.

[0053] The detection area switching unit 125 is configured to be able to switch the detection area of ​​the obstacle detected by the obstacle detection sensor 109. In this case, the detection area switching unit 125 is configured to switch the detection area of ​​the obstacle according to the detection state of the hot water pipe 12 by the hot water pipe detection sensor 110.

[0054] More specifically, when the hot water pipe 12 is not detected by the hot water pipe detection sensor 110, the detection area switching unit 125 switches the obstacle detection area of ​​the obstacle detection sensor 109 to the outside lane pattern Pa, as shown in Fig. 3. The outside lane pattern Pa can also be defined as a non-working pattern assuming that the robot arm 102 is not performing work.

[0055] In the out-lane pattern Pa, a plurality of detection areas are formed, in this case a first deceleration area Pa1, a second deceleration area Pa2, and a stop area Pa3. The first deceleration area Pa1, the second deceleration area Pa2, and the stop area Pa3 are all rectangular frame-shaped detection areas centered on the self-propelled work robot 100. The first deceleration area Pa1 is provided outside the second deceleration area Pa2, which is provided outside the stop area Pa3, which is provided outside the self-propelled work robot 100. The out-lane pattern Pa is a detection region pattern that covers the entire periphery of the self-propelled work robot 100, including the front, rear, left side, and right side.

[0056] When the obstacle detection sensor 109 detects the presence of an obstacle in the first deceleration area Pa1, the traveling control unit 122 decelerates the movement speed of the self-propelled work robot 100 to a first non-work speed. The first non-work speed can be changed and set as appropriate within a speed range slower than the non-work speed that is set as the movement speed of the self-propelled work robot 100 in areas other than the work area R1. The non-work speed can be changed and set as appropriate within a speed range that ensures sufficient safety when the self-propelled work robot 100 travels in areas other than the work area R1.

[0057] Furthermore, when the obstacle detection sensor 109 detects the presence of an obstacle in the second deceleration area Pa2, the traveling control unit 122 decelerates the movement speed of the self-propelled work robot 100 to a second non-work speed. The second non-work speed can be set by appropriately changing it within a speed range slower than the first non-work speed.

[0058] Furthermore, the traveling control unit 122 stops the traveling of the self-propelled work robot 100 if the obstacle detection sensor 109 detects the presence of an obstacle within the stopping area Pa3.

[0059] On the other hand, when the hot water pipe 12 is detected by the hot water pipe detection sensor 110, the detection area switching unit 125 switches the obstacle detection area of ​​the obstacle detection sensor 109 to the in-lane pattern Pb, as shown in Fig. 4. The in-lane pattern Pb can also be defined as a working pattern that assumes that the robot arm 102 will perform work.

[0060] In the in-lane pattern Pb, a plurality of detection areas are formed, in this case a first deceleration area Pb1, a second deceleration area Pb2, and a stop area Pb3. The first deceleration area Pb1, the second deceleration area Pb2, and the stop area Pb3 are all long rectangular detection areas along the short side direction of the self-propelled work robot 100 in front of and behind the self-propelled work robot 100. The first deceleration area Pb1 is provided outside the second deceleration area Pb2, which is provided outside the stop area Pb3, which is provided outside the self-propelled work robot 100. The in-lane pattern Pb is a detection area pattern that includes the front and rear of the self-propelled work robot 100 and does not include the left and right sides, that is, it is a detection area pattern that covers the area along the traveling direction of the self-propelled work robot 100 within the working area R1.

[0061] When the obstacle detection sensor 109 detects the presence of an obstacle in the first deceleration area Pb1, the traveling control unit 122 decelerates the movement speed of the self-propelled work robot 100 to a first work speed. The first work speed can be changed and set as appropriate within a speed range slower than the work speed that is set as the movement speed of the self-propelled work robot 100 within the work area R1. The work speed can be changed and set as appropriate within a speed range that ensures sufficient safety when the self-propelled work robot 100 travels within the work area R1.

[0062] Furthermore, when the obstacle detection sensor 109 detects the presence of an obstacle in the second deceleration area Pb2, the traveling control unit 122 decelerates the movement speed of the self-propelled work robot 100 to a second work speed. The second work speed can be set by appropriately changing it within a speed range slower than the first work speed.

[0063] Furthermore, the traveling control unit 122 stops the traveling of the self-propelled work robot 100 if the obstacle detection sensor 109 detects the presence of an obstacle within the stopping area Pb3.

[0064] The working speed is assumed to be slower than the non-working speed, the first working speed is assumed to be slower than the first non-working speed, and the second working speed is assumed to be slower than the second non-working speed.

[0065] The form switching unit 126 is configured to be able to switch the form of the robot arm 102 according to the detection state of the hot water pipe 12 by the hot water pipe detection sensor 110. In this case, the robot arm 102 is configured to be able to switch between a detection form that is set as a form to be taken or a recommended form when the hot water pipe detection sensor 110 detects the hot water pipe 12, and a non-detection form that is set as a form to be taken or a recommended form when the hot water pipe detection sensor 110 does not detect the hot water pipe 12.

[0066] The non-detection form may be, for example, a form in which the robot arm 102 moves the harvesting tool 103 at the tip into the disinfection unit 108, or a form in which the robot arm 102 moves the camera 104 at the tip to a position where a predetermined object can be photographed, or any other appropriate form. In other words, various forms can be applied as the non-detection form as long as the robot arm 102 does not come into direct contact with people or the like present around the self-propelled work robot 100.

[0067] The detection state may be, for example, a state in which the robot arm 102 is ready to operate immediately, in other words, a state in which it is in a standby state, or a state in which the robot arm 102 has moved the harvesting tool 103 at its tip outside the disinfection unit 108, or any other appropriate state different from the non-detection state described above.

[0068] The form switching unit 126 is configured to switch the form of the robot arm 102 from the detection form to the non-detection form when the hot water pipe detection sensor 110 does not detect the hot water pipe 12 and the robot arm 102 has been switched to the detection form.

[0069] Furthermore, if the hot water pipe detection sensor 110 has not detected the hot water pipe 12 and the robot arm 102 has been switched to the detection form, the form switching unit 126 causes the robot main body 101 and thus the entire self-propelled work robot 100 to travel by the traveling unit 105 while maintaining the robot arm 102 in that form until the hot water pipe detection sensor 110 is in a state where it can detect the hot water pipe 12. The form switching unit 126 is configured to switch the form of the robot arm 102 from the detection form to the non-detection form on the condition that the hot water pipe detection sensor 110 is in a state where it can detect the hot water pipe 12, in other words, on the condition that the self-propelled work robot 100 has moved into the work area R1.

[0070] That is, when the hot water pipe detection sensor 110 does not detect the hot water pipe 12, there is a high possibility that the self-propelled work robot 100 is in an area other than the working area R1. If the robot arm 102 were to be switched from the detection form to the non-detection form while the self-propelled work robot 100 is in an area other than the working area R1, there is a risk that the robot arm 102 will come into contact with a person or an obstacle during the form change.

[0071] Therefore, if the hot water pipe detection sensor 110 has not detected the hot water pipe 12 and the robot arm 102 has been switched to the detection form, it is preferable to move the self-propelled work robot 100 into the working area R1 in that state and then switch the form of the robot arm 102 from the detection form to the non-detection form. In other words, it is preferable to change the form of the robot arm 102 from the detection form to the non-detection form within the working area R1. This makes it possible to prevent the robot arm 102 from coming into contact with a person or an obstacle during the form change.

[0072] FIG. 9 shows an example of the correspondence between the detection states of the hot water pipe detection sensor 110 and the obstacle detection sensor 109 and the modes of each part.

[0073] For example, according to situation pattern A, the front hot water pipe detection sensor 110 is in a detection state, and the rear hot water pipe detection sensor 110 is in a detection state. In this case, since both the front and rear hot water pipe detection sensors 110 of the self-propelled work robot 100 are in a detection state, it can be determined that the self-propelled work robot 100 is in a state of being present within the work area R1. Therefore, the control device 120 switches the obstacle detection area of ​​the obstacle detection sensor 109 to the in-lane pattern Pb.

[0074] Then, with the obstacle detection area of ​​the obstacle detection sensors 109 switched to the in-lane pattern Pb, the front obstacle detection sensor 109 is in a non-detection state, and the rear obstacle detection sensor 109 is in a non-detection state.

[0075] From the above, the control device 120 determines that the self-propelled work robot 100 is present within work area R1 and that there are no obstacles around the self-propelled work robot 100, in this case, in front of and behind the self-propelled work robot 100.

[0076] The control device 120 also switches the travel mode of the travel unit 105 to a harvesting mode, enabling travel at a predetermined high speed. The control device 120 also switches the operation mode of the robot arm 102 to an operation allowance mode, enabling operation by the robot arm 102. This allows the self-propelled work robot 100 to perform harvesting work using the robot arm 102 within the work area R1.

[0077] Also, for example, according to situation pattern B, when the obstacle detection area of ​​the obstacle detection sensor 109 is switched to the in-lane pattern Pb, the front obstacle detection sensor 109 is in a detection state, and the rear obstacle detection sensor 109 is in a non-detection state.

[0078] Therefore, the control device 120 determines that the self-propelled work robot 100 is present within work area R1, and that there is an obstacle around the self-propelled work robot 100, in this case, in front of the self-propelled work robot 100.

[0079] Furthermore, the control device 120 switches the travel mode of the travel unit 105 to the harvesting mode, enabling travel at a predetermined high speed. However, because a state in which there is an obstacle ahead of the self-propelled work robot 100 has been detected, the control device 120 adjusts the movement speed of the self-propelled work robot 100 to a predetermined low speed while switching the travel mode of the travel unit 105 to the harvesting mode, and in some cases, causes the self-propelled work robot 100 to stop traveling.

[0080] Furthermore, the control device 120 switches the operation mode of the robot arm 102 to an operation restriction mode to restrict the operation of the robot arm 102. This makes it possible to prevent the robot arm 102 from operating and coming into contact with an obstacle. At this time, the control device 120 can, for example, slow down the operation speed of the robot arm 102 or stop the operation of the robot arm 102. Note that the control device 120 may perform control to, for example, slow down the operation speed of the robot arm 102 or temporarily suspend the operation of the robot arm 102 while keeping the operation mode of the robot arm 102 in the operation permitted mode.

[0081] Also, for example, according to situation pattern C, the front hot water pipe detection sensor 110 is in a detection state, and the rear hot water pipe detection sensor 110 is in an undetected state. In this case, one of the two hot water pipe detection sensors 110 at the front and rear of the self-propelled work robot 100 is in an undetected state. Therefore, it can be determined that the self-propelled work robot 100 is in a state in which it is moving from outside the working area R1 to inside the working area R1, or in a state in which it is moving from inside the working area R1 to outside the working area R1.

[0082] In this case, it is estimated that at least a portion of the self-propelled work robot 100 is present within the working area R1. Therefore, the control device 120 switches the obstacle detection area detected by the obstacle detection sensor 109 to the in-lane pattern Pb. That is, the control device 120 is configured to switch the obstacle detection area detected by the obstacle detection sensor 109 to the in-lane pattern Pb as long as the entire self-propelled work robot 100 does not move outside the working area R1, in other words, as long as a portion of the self-propelled work robot 100 remains within the working area R1. Note that the control device 120 may switch the obstacle detection area detected by the obstacle detection sensor 109 to the out-lane pattern Pa when at least a portion of the self-propelled work robot 100 moves outside the working area R1.

[0083] Then, with the obstacle detection area of ​​the obstacle detection sensors 109 switched to the in-lane pattern Pb, the front obstacle detection sensor 109 is in a non-detection state, and the rear obstacle detection sensor 109 is in a non-detection state.

[0084] From the above, controller 120 determines that self-propelled working robot 100 is in the process of moving from outside working area R1 to inside working area R1, or in the process of moving from inside working area R1 to outside working area R1. Controller 120 also determines that there are no obstacles around self-propelled working robot 100, in this case, in front of and behind self-propelled working robot 100.

[0085] Furthermore, the control device 120 switches the travel mode of the travel unit 105 to a transition mode, enabling travel at a predetermined low speed. The control device 120 also switches the operation mode of the robot arm 102 to an operation restriction mode, restricting the operation of the robot arm 102. This allows the self-propelled work robot 100 to move from outside the working area R1 to inside the working area R1, or move from inside the working area R1 to outside the working area R1, with the operation of the robot arm 102 restricted. At this time, it is preferable for the control device 120 to maintain a state in which the operation of the robot arm 102 is stopped, for example.

[0086] Although detailed explanation is omitted, even if the front hot water pipe detection sensor 110 is in an undetected state and the rear hot water pipe detection sensor 110 is in a detected state, it is estimated that the self-propelled work robot 100 is in a state of moving from outside the working area R1 to inside the working area R1, or in a state of moving from inside the working area R1 to outside the working area R1. Therefore, in this case as well, the control device 120 should perform control similar to that of the above-mentioned situation pattern C.

[0087] Also, for example, according to situation pattern D, the front hot water pipe detection sensor 110 is in an undetected state, and the rear hot water pipe detection sensor 110 is in an undetected state. In this case, both of the two hot water pipe detection sensors 110 at the front and rear of the self-propelled work robot 100 are in an undetected state. Therefore, it can be determined that the self-propelled work robot 100 is in a state where it is present in an area other than the work area R1. Therefore, the control device 120 switches the obstacle detection area by the obstacle detection sensor 109 to the outside lane pattern Pa.

[0088] Then, with the obstacle detection area of ​​the obstacle detection sensors 109 switched to the outside lane pattern Pa, the front obstacle detection sensor 109 is in a non-detection state, and the rear obstacle detection sensor 109 is in a non-detection state.

[0089] Based on the above, the control device 120 determines that the self-propelled work robot 100 is in an area other than the work area R1, such as an aisle in the field 10, and that there are no obstacles around the self-propelled work robot 100, in this case, in front and behind the self-propelled work robot 100 in the direction of travel.

[0090] The control device 120 also switches the travel mode of the travel unit 105 to an aisle travel mode, enabling travel at a predetermined low speed. The control device 120 also switches the operation mode of the robot arm 102 to an operation restriction mode, restricting the operation of the robot arm 102. This allows the self-propelled work robot 100 to travel in areas other than the work area R1 with the operation of the robot arm 102 restricted. At this time, the control device 120 may, for example, maintain a state in which the operation of the robot arm 102 is stopped.

[0091] Also, for example, according to situation pattern E, when the obstacle detection area of ​​the obstacle detection sensor 109 is switched to the outside lane pattern Pa, the front obstacle detection sensor 109 is in a detection state and the rear obstacle detection sensor 109 is in an undetected state.

[0092] Therefore, the control device 120 determines that the self-propelled work robot 100 is in an area other than the work area R1, such as an aisle in the field 10, and that there is an obstacle around the self-propelled work robot 100, in this case, ahead in the direction of travel of the self-propelled work robot 100.

[0093] Furthermore, the control device 120 switches the driving mode of the traveling unit 105 to the passage driving mode, enabling the self-propelled work robot 100 to travel at a predetermined low speed. However, because a state in which an obstacle is present in front of the self-propelled work robot 100 has been detected, the control device 120 switches the driving mode of the traveling unit 105 to the passage driving mode, but in some cases, stops the self-propelled work robot 100 from traveling.

[0094] Furthermore, the control device 120 switches the operation mode of the robot arm 102 to an operation restriction mode to restrict the operation of the robot arm 102. This makes it possible to prevent the robot arm 102 from operating and coming into contact with an obstacle. At this time, the control device 120 can, for example, maintain a state in which the operation of the robot arm 102 is stopped.

[0095] The self-propelled work robot 100 illustrated above is equipped with a robot arm 102 configured to be able to operate in multiple operating modes, a robot main body unit 101 on which the robot arm 102 is mounted, a running unit 105 that runs the robot main body unit 101, a hot water pipe detection sensor 110 configured to be able to detect the hot water pipe 12, and an operating mode switching unit 124 that switches the operating mode of the robot arm 102 depending on the detection status of the hot water pipe 12 by the hot water pipe detection sensor 110.

[0096] With the self-propelled work robot 100 configured in this manner, the operation mode of the robot arm 102 can be appropriately switched depending on the detection status of the hot water pipe 12 by the hot water pipe detection sensor 110. As a result, by installing the hot water pipe 12 within an area where it is desired to switch the operation mode of the robot arm 102, for example, within the work area R1 in this case, it is possible to accurately switch the operation mode of the robot arm 102 between an operation permitted mode and an operation restricted mode depending on the area in which the self-propelled work robot 100 is located.

[0097] Furthermore, with the self-propelled work robot 100, the hot water pipe 12, which is an example of a target, extends along the direction of travel of the robot main body 101 by the traveling unit 105, and ultimately the entire self-propelled work robot 100. With this configuration example, in the area where the hot water pipe 12 extends, the hot water pipe 12 can continue to be detected as the self-propelled work robot 100 progresses, making it possible to avoid situations in which the hot water pipe 12 cannot be detected.

[0098] Therefore, by extending and placing the hot water pipe 12 within the area where it is desired to switch the operation mode of the robot arm 102 to the operation allowable mode, the state in which the operation mode of the robot arm 102 is switched to the operation allowable mode can be maintained within that area.

[0099] Furthermore, according to the self-propelled work robot 100, the robot main body 101, and therefore the entire self-propelled work robot 100, travels over the target hot water pipe 12 using the traveling part 105. According to this configuration example, the target hot water pipe 12 is located directly below the traveling self-propelled work robot 100, making it even easier to detect the hot water pipe 12.

[0100] The self-propelled work robot 100 is also equipped with an obstacle detection sensor 109 that detects obstacles present around the robot main body 101, and a detection area switching unit 125 that switches the detection area of ​​the obstacle detected by the obstacle detection sensor 109. The detection area switching unit 125 switches the detection area of ​​the obstacle detection sensor 109 depending on the detection status of the hot water pipe 12 by the hot water pipe detection sensor 110.

[0101] When the hot water pipe 12 is detected by the hot water pipe detection sensor 110, there is a high possibility that the self-propelled work robot 100 is present within the work area R1. Therefore, by switching the obstacle detection area of ​​the obstacle detection sensor 109 to an area suitable for work, in this case the in-lane pattern Pb, it is possible to avoid, for example, the cultivation equipment 11a or the support member 11b being detected as an obstacle.

[0102] On the other hand, when the hot water pipe 12 is not detected by the hot water pipe detection sensor 110, there is a high possibility that the self-propelled work robot 100 is in an area other than the work area R1. Therefore, by switching the obstacle detection area of ​​the obstacle detection sensor 109 to an area suitable for non-working, in this case the outside lane pattern Pa, for example, it is possible to detect a person in an area other than the work area R1 as an obstacle, thereby improving safety.

[0103] Furthermore, according to the self-propelled work robot 100, the robot arm 102 can be switched at least between an operation allowable mode in which operation is permitted and an operation restricted mode in which operation is restricted. When the hot water pipe detection sensor 110 detects the hot water pipe 12, the operation mode switching unit 124 switches the operation mode of the robot arm 102 from the operation restricted mode to the operation allowable mode.

[0104] When the hot water pipe 12 is detected by the hot water pipe detection sensor 110, there is a high possibility that the self-propelled work robot 100 is present within the work area R1. Therefore, by switching the operation mode of the robot arm 102 from the operation restriction mode to the operation allowance mode, the robot arm 102 can perform work appropriately.

[0105] On the other hand, when the hot water pipe 12 is not detected by the hot water pipe detection sensor 110, there is a high possibility that the self-propelled work robot 100 is in an area other than the work area R1. Therefore, safety can be improved by switching the operation mode of the robot arm 102 from the operation allowable mode to the operation restricted mode.

[0106] Furthermore, according to self-propelled working robot 100, hot water pipe detection sensors 110 are provided at the front and rear of robot main body 101 in the direction of travel.

[0107] According to this configuration example, based on the fact that both the front and rear hot water pipe detection sensors 110 are in a detection state, it is possible to accurately determine that the entire self-propelled work robot 100 is located above the hot water pipe 12, i.e., within the work area R1.

[0108] In addition, based on the fact that either one of the two front and rear hot water pipe detection sensors 110 changes from a detection state to an undetected state, it is possible to accurately determine that all or part of the self-propelled work robot 100 is outside the work area R1.

[0109] Furthermore, by stopping the operation of the robot arm 102 when either of the two front and rear hot water pipe detection sensors 110 changes from a detection state to an undetection state, it is possible to prevent the robot arm 102 from operating outside the working area R1, thereby further improving safety.

[0110] The self-propelled working robot 100 is also provided with a form switching unit 126 that switches the form of the robot arm 102 depending on the detection status of the hot water pipe 12 by the hot water pipe detection sensor 110. The robot arm 102 can be switched between a detection form that is set as a form to be taken or a recommended form when the hot water pipe detection sensor 110 detects the hot water pipe 12, and a non-detection form that is set as a form to be taken or a recommended form when the hot water pipe detection sensor 110 does not detect the hot water pipe 12. When the hot water pipe detection sensor 110 does not detect the hot water pipe 12 and the robot arm 102 has been switched to the detection form, the form switching unit 126 switches the form of the robot arm 102 from the detection form to the non-detection form.

[0111] When the hot water pipe 12 is not detected by the hot water pipe detection sensor 110, there is a high possibility that the self-propelled work robot 100 is in an area other than the work area R1. Therefore, safety can be improved by switching the form of the robot arm 102 from the detection form to the non-detection form.

[0112] In addition, according to the self-propelled work robot 100, when the hot water pipe detection sensor 110 has not detected the hot water pipe 12 and the robot arm 102 has been switched to the detection form, the form switching unit 126 causes the robot main body unit 101 to travel using the running unit 105 until the hot water pipe detection sensor 110 is in a state where it detects the hot water pipe 12, and then switches the form of the robot arm 102 from the detection form to the non-detection form.

[0113] When the hot water pipe 12 is not detected by the hot water pipe detection sensor 110, it is highly likely that the self-propelled work robot 100 is in an area other than the work area R1. Therefore, if the form of the robot arm 102 is switched in this state, there is a risk that the robot arm 102 may come into contact with a person. On the other hand, when the hot water pipe 12 is detected by the hot water pipe detection sensor 110, it is highly likely that the self-propelled work robot 100 is in the work area R1, and it is unlikely that a person is present in the work area R1.

[0114] Therefore, if the hot water pipe detection sensor 110 has not detected the hot water pipe 12 and the robot arm 102 has been switched to the detection mode, it is advisable to make the robot main body 101 travel by the traveling unit 105 until the hot water pipe detection sensor 110 detects the hot water pipe 12, that is, to move the self-propelled work robot 100 into the work area R1, and then switch the mode of the robot arm 102. This makes it possible to prevent the robot arm 102 from coming into contact with a person when changing its mode, thereby improving safety.

[0115] Furthermore, the self-propelled working robot 100 is equipped with a harvesting tool 103 provided on the robot arm 102, and a disinfection unit 108 that disinfects the harvesting tool 103. Therefore, as the non-detection mode, for example, it is preferable to set a mode in which the harvesting tool 103 has moved into the disinfection unit 108.

[0116] According to the configuration in which the harvesting tool 103 has been moved into the disinfection unit 108, it is easier to prevent the harvesting tool 103 from coming into contact with people, and safety can be further improved. In addition, the robot arm 102 is in the non-detection configuration mainly when no work is being performed by the robot arm 102. Therefore, by adopting the configuration in which the harvesting tool 103 has been moved into the disinfection unit 108 as the non-detection configuration, the harvesting tool 103 can be disinfected by the disinfection unit 108 during non-working hours, and the disinfection work can be performed efficiently.

[0117] Furthermore, self-propelled working robot 100 is equipped with camera 104 provided on robot arm 102. Therefore, as the non-detection mode, for example, a mode in which camera 104 has moved to a position where it can capture an image of a predetermined subject may be set.

[0118] As described above, the robot arm 102 is in the non-detection form primarily during non-working hours when no work is being performed by the robot arm 102, and during non-working hours it is expected that the self-propelled work robot 100 will travel in areas other than the work area R1. For this reason, by adopting a form in which the camera 104 has been moved to a position where it can photograph a specific object to be photographed, such as the trace line 13 or the markers 14, 15, as the non-detection form, it becomes easier to photograph the object to be photographed when the self-propelled work robot 100 is traveling during non-working hours, and it becomes easier to support the traveling of the self-propelled work robot 100 during non-working hours.

[0119] In addition, according to the self-propelled work robot 100, the running unit 105 can switch the rotational speed of the drive wheels 106 that move the robot main body unit 101 and ultimately the entire self-propelled work robot 100 depending on the detection status of the hot water pipe 12 by the hot water pipe detection sensor 110.

[0120] As described above, if the drive wheel 106 were to rotate at the same rotational speed when traveling in areas other than the work area R1 mainly using the large wheel portion 106a and when traveling on the hot water pipe 12 within the work area R1 mainly using the small wheel portion 106b, the movement speed of the self-propelled work robot 100 would be relatively faster when traveling in areas other than the work area R1, and the movement speed of the self-propelled work robot 100 would be relatively slower when traveling within the work area R1.

[0121] Therefore, by appropriately switching the rotation speed of the drive wheel 106 depending on the detection status of the hot water pipe 12 by the hot water pipe detection sensor 110, it is possible to prevent the running speed of the self-propelled work robot 100, particularly within the work area R1, from becoming excessively slow, thereby suppressing the occurrence of situations such as longer working times.

[0122] Generally, when the travel speed of the drive wheels is increased, the distance traveled per unit time increases, and so it is conceivable to widen the obstacle detection area as well. However, with self-propelled work robot 100, even if the rotational speed of drive wheels 106 is increased, this increases the rotational speed of small wheel portion 106b, not large wheel portion 106a, so the travel speed of self-propelled work robot 100 as a whole does not increase that much.

[0123] Therefore, in the self-propelled working robot 100, if the detection area of ​​obstacles by the obstacle detection sensor 109 is also widened simply because the rotational speed of the drive wheels 106 is increased, there is a risk that, for example, a wall or the like at the end of the working area R1 may be detected as an obstacle by the obstacle detection sensor 109 even if the self-propelled working robot 100 in the working area R1 is sufficiently far from the end of the working area R1. Then, when an obstacle is detected, there is a concern that control to reduce the movement speed of the self-propelled working robot 100 or control to stop the self-propelled working robot 100 may be performed even if the self-propelled working robot 100 is not approaching the end of the working area R1.

[0124] Therefore, according to the self-propelled work robot 100, when an obstacle exists within the work area R1, the detection area of ​​the obstacle detected by the obstacle detection sensor 109 is configured to be switched to the in-lane pattern Pb. Therefore, even if the travel speed of the self-propelled work robot 100 within the work area R1 is increased, the detection area of ​​the obstacle detected by the obstacle detection sensor 109 can be set to an area that is not too wide and is suitable for travel within the work area R1. Therefore, it is possible to avoid control to reduce the travel speed or stop the self-propelled work robot 100 when there is still a distance to the edge of the work area R1.

[0125] Furthermore, the self-propelled working robot 100 is equipped with a safety monitoring unit 123 that monitors whether or not the behavior of the entire self-propelled working robot 100, including at least the robot arm 102 and the traveling unit 105, is in a safe state. This safety monitoring unit 123 also functions as a control unit that controls the behavior of the entire self-propelled working robot 100, including at least the robot arm 102 and the traveling unit 105. According to this configuration example, work and traveling by the self-propelled working robot 100 can be performed in a safe state based on control by the control unit.

[0126] Furthermore, by configuring the safety monitoring unit 123 with a control unit that has obtained a specified safety certification, it is possible to further ensure safety. Furthermore, by configuring various sensors such as the hot water pipe detection sensor 110 and the obstacle detection sensor 109 with sensors that have obtained a specified safety certification, it is possible to further ensure safety. Furthermore, by configuring other components that make up the self-propelled work robot 100 with components that have obtained a specified safety certification, it is possible to further ensure safety. Note that various safety certification standards, such as standards established by the International Organization for Standardization (ISO), can be adopted as the safety certification.

[0127] Although self-propelled work robot 100 is equipped with robot arm 102 capable of performing agricultural work, it may also be configured to be equipped with a robot arm capable of performing work other than agricultural work.

[0128] Second embodiment The hot water pipes 12 installed in the farm field 10 are long and may bend, causing the hot water pipes 12 to tilt either entirely or partially. Therefore, as shown in Fig. 10, in this embodiment, the self-propelled work robot 100 is configured to include hot water pipe detection sensors 110 on both sides of the robot body 101 in the short direction.

[0129] According to this configuration example, as illustrated in Fig. 11, when the hot water pipe 12 is tilted, at least one of the two hot water pipe detection sensors 110 is in a semi-detection state or a non-detection state. Therefore, it can be determined that the hot water pipe 12 is in a tilted state. On the other hand, as illustrated in Fig. 10, when the hot water pipe 12 is not tilted, both of the two hot water pipe detection sensors 110 are in a detection state. Therefore, it can be determined that the hot water pipe 12 is not tilted.

[0130] Thus, according to the configuration example of this embodiment, the two hot water pipe detection sensors 110 can detect the inclination of the hot water pipe 12 or the width dimension of the hot water pipe 12 in the horizontal direction. The width dimension of the hot water pipe 12 can also be defined as the dimension in a direction perpendicular to the longitudinal direction of the hot water pipe 12. The width dimension of the hot water pipe 12 in the horizontal direction may become narrower or wider due to factors such as the hot water pipe 12 being inclined, or the hot water pipe 12 being damaged over time. If a change in the inclination or width dimension of the hot water pipe 12 is detected, the control device 120 may execute control to, for example, reduce the traveling speed of the self-propelled work robot 100, stop the traveling, or notify an error. This makes it possible to prevent the self-propelled work robot 100 from continuing to travel in that state even if a state occurs in which safety is insufficiently ensured due to the hot water pipe 12 being inclined or the width dimension fluctuating, thereby improving safety. The error may be notified, for example, by displaying the error on a display of an operation input unit equipped on the self-propelled work robot 100, by turning on or blinking a warning lamp, or by using voice or sound via a speaker or the like.

[0131] (Other embodiments) The present disclosure is not limited to the above-described embodiments, and can be modified or expanded as appropriate without departing from the spirit of the present disclosure. For example, the self-propelled working robot 100 can be configured by appropriately selecting and combining the above-described embodiments.

[0132] Furthermore, the target is not limited to hot water pipe 12, and may be, for example, another element that can be detected by self-propelled work robot 100 within farm field 10. Furthermore, the target may be, for example, a predetermined object provided at the entrance to work area R1. In this case, self-propelled work robot 100 may maintain the detection state, i.e., latch, when it detects the predetermined object, and switch to a non-detection state, i.e., non-latched state, when it detects the predetermined object again.

[0133] Furthermore, the target detection unit may be configured to detect the target using, for example, a contact switch, a switch using communication or light, instead of a non-contact switch, or may be configured to detect the target using RFID, or may be configured to detect the target by recognizing a code or the like using the camera 104. In other words, various configurations can be applied as long as the target can be detected using some method.

[0134] The target detection unit may be configured to detect a target while the self-propelled working robot 100 is traveling, or may be configured to detect a target while the self-propelled working robot 100 is stopped. The self-propelled working robot 100 may be configured to allow the operation of the robot arm 102 at positions other than the position where the target is detected by the target detection unit, or may be configured to allow the operation of the robot arm 102 only at the position where the target is detected by the target detection unit. The self-propelled working robot 100 may be configured to allow the operation of the robot arm 102 on the condition that a sufficiently safe state is ensured by, for example, the safety monitoring unit 123.

[0135] Furthermore, the number of target detection units mounted on one self-propelled work robot 100 is not limited to two, and may be one, or three or more. Furthermore, the location of the target detection unit is not limited to the front or rear of self-propelled work robot 100, and may be, for example, the left or right side, the upper or lower part, or another location.

[0136] Furthermore, the number of obstacle detection units mounted on one self-propelled working robot 100 is not limited to two, and may be one, or three or more. Furthermore, the location of the obstacle detection unit is not limited to the front or rear of self-propelled working robot 100, and may be, for example, the left or right side, the upper or lower part, or another part. Furthermore, the present disclosure can also be applied to self-propelled working robots that perform work other than agricultural work.

[0137] Although the present disclosure has been described based on the embodiment, it is understood that the present disclosure is not limited to the embodiment or structure. The present disclosure also includes various modifications and modifications within the equivalent range. In addition, various combinations and forms, and other combinations and forms including only one element, more than one element, or less than one element, are also within the scope and concept of the present disclosure.

[0138] The control unit and the method described in the present disclosure may be realized by a special-purpose computer provided by configuring a processor and a memory programmed to execute one or more functions embodied in a computer program. Alternatively, the control unit and the method described in the present disclosure may be realized by a special-purpose computer provided by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the control unit and the method described in the present disclosure may be realized by one or more special-purpose computers configured by a combination of a processor and a memory programmed to execute one or more functions and a processor configured with one or more hardware logic circuits. Also, the computer program may be stored in a computer-readable non-transitory tangible storage medium as instructions executed by a computer.

[0139] In addition to the inventions described in the claims, the present disclosure further includes the following inventions. [Claim 1] An operating unit (102) configured to be operable in a plurality of operating modes; A robot main body (101) on which the operating unit is provided; A traveling unit (105) for traveling the robot main body; A target detection unit (110) configured to be able to detect a predetermined target; an operation mode switching unit (124) that switches the operation mode of the operation unit depending on the detection state of the target by the target detection unit; A self-propelled work robot equipped with a [Claim 2] 2. The self-propelled working robot according to claim 1, wherein the target extends along a direction in which the robot main body is moved by the traveling part. [Claim 3] 3. The self-propelled working robot according to claim 1, wherein the robot main body travels over the target by means of the traveling part. [Claim 4] an obstacle detection unit (109) for detecting obstacles present around the robot main body; a detection area switching unit (125) for switching an obstacle detection area by the obstacle detection unit; Equipped with 4. The self-propelled work robot according to claim 1, wherein the detection area switching unit switches the detection area depending on a detection state of the target by the target detection unit. [Claim 5] the operation unit is switchable between an operation permitted mode in which the operation is permitted and an operation restricted mode in which the operation is restricted, 5. The self-propelled work robot according to claim 1, wherein the operation mode switching unit switches the operation mode of the operation unit from the operation restriction mode to the operation allowance mode when the target detection unit detects the target. [Claim 6] 6. The self-propelled working robot according to claim 1, wherein the target detection units are provided at the front and rear of the robot main body in a traveling direction. [Claim 7] a form switching unit (126) for switching the form of the operating unit in response to a detection state of the target by the target detection unit, the operation unit is switchable between a detection mode set as a mode to be taken when the target detection unit detects the target and a non-detection mode set as a mode to be taken when the target detection unit does not detect the target, 7. The self-propelled work robot according to claim 1, wherein when the target detection unit has not detected the target and the operating unit has been switched to the detection form, the form switching unit switches the form of the operating unit from the detection form to the non-detection form. [Claim 8] 8. The self-propelled work robot of claim 7, wherein when the target detection unit has not detected the target and the operating unit has been switched to the detection form, the form switching unit causes the robot main body unit to run using the running unit until the target detection unit is in a state to detect the target, and then switches the form of the operating unit from the detection form to the non-detection form. [Claim 9] A working unit (103) provided in the operating unit and performing a predetermined operation; A disinfection unit (108) for disinfecting the working unit; Equipped with 9. The self-propelled working robot according to claim 7, wherein the non-detection form is a form in which the working unit has moved into the disinfection unit. [Claim 10] A photographing unit (104) is provided in the operating unit, 9. The self-propelled working robot according to claim 7, wherein the non-detection mode is a mode in which the image capturing section has moved to a position where it can capture an image of a predetermined object to be captured. [Claim 11] 11. The self-propelled working robot according to claim 1, wherein the traveling unit switches the rotational speed of wheels that move the robot main body unit according to a detection state of the target by the target detection unit. [Claim 12] 12. The self-propelled working robot according to claim 1, further comprising a safety monitoring unit (123) that monitors whether or not the behavior of the operation unit and the traveling unit is in a safe state. [Claim 13] 13. The self-propelled working robot according to claim 12, wherein the safety monitoring unit functions as a control unit that controls behavior of the operation unit and the traveling unit. [Claim 14] 14. The self-propelled working robot according to claim 12 or 13, wherein the safety monitoring unit is a control unit that has obtained a predetermined safety certification. [Claim 15] 15. The self-propelled work robot according to claim 1, wherein the operating unit is capable of performing agricultural work. [Claim 16] 16. The self-propelled working robot according to claim 1, wherein the target detection unit is a sensor that has obtained a predetermined safety certification. [Claim 17] 17. The self-propelled working robot according to claim 1, wherein the target detection unit is capable of detecting an inclination or a width of the target.

Claims

1. An operating unit (102) configured to be operable in a plurality of operating modes; A robot main body (101) on which the operating unit is provided; A running unit (105) for running the robot main body; A target detection unit (110) configured to be able to detect a predetermined target; an operation mode switching unit (124) that switches the operation mode of the operation unit depending on the detection status of the target by the target detection unit; Equipped with The target is a self-propelled work robot extending along the direction in which the robot main body is moved by the traveling part.

2. The self-propelled working robot according to claim 1 , wherein the robot main body travels on the target by means of the traveling part.

3. an obstacle detection unit (109) for detecting obstacles present around the robot main body; a detection area switching unit (125) for switching an obstacle detection area by the obstacle detection unit; Equipped with The self-propelled work robot according to claim 1 , wherein the detection area switching unit switches the detection area depending on a detection state of the target by the target detection unit.

4. the operation unit is switchable between an operation permitted mode in which the operation is permitted and an operation restricted mode in which the operation is restricted, 2. The self-propelled work robot according to claim 1, wherein the operation mode switching unit switches the operation mode of the operation unit from the operation restriction mode to the operation permissible mode when the target detection unit detects the target.

5. 2. The self-propelled working robot according to claim 1, wherein the target detection units are provided at the front and rear of the robot main body in the traveling direction.

6. a form switching unit (126) for switching the form of the operating unit in response to a detection state of the target by the target detection unit, the operation unit is switchable between a detection mode set as a mode to be taken when the target detection unit detects the target and a non-detection mode set as a mode to be taken when the target detection unit does not detect the target, 2. The self-propelled work robot according to claim 1, wherein when the target detection unit has not detected the target and the operating unit has been switched to the detection form, the form switching unit switches the form of the operating unit from the detection form to the non-detection form.

7. 7. The self-propelled work robot according to claim 6, wherein, when the target detection unit has not detected the target and the operating unit has been switched to the detection form, the form switching unit causes the robot main body unit to run using the running unit until the target detection unit is in a state to detect the target, and then switches the form of the operating unit from the detection form to the non-detection form.

8. A working unit (103) provided in the operating unit and performing a predetermined operation; A disinfection unit (108) for disinfecting the working unit; Equipped with The self-propelled working robot according to claim 6 , wherein the non-detection configuration is a configuration in which the working unit has moved into the disinfection unit.

9. A photographing unit (104) is provided in the operating unit, 7. The self-propelled working robot according to claim 6, wherein the non-detection mode is a mode in which the image capturing section has moved to a position where it can capture an image of a predetermined object to be captured.

10. 2. The self-propelled working robot according to claim 1, wherein the traveling section switches the rotational speed of wheels that move the robot main body section in response to a detection state of the target by the target detection section.

11. 2. The self-propelled working robot according to claim 1, further comprising a safety monitoring unit (123) that monitors whether the behavior of the operating unit and the traveling unit is in a safe state.

12. The self-propelled working robot according to claim 11 , wherein the safety monitoring unit functions as a control unit that controls behavior of the operation unit and the traveling unit.

13. 12. The self-propelled working robot according to claim 11, wherein the safety monitoring unit is a control unit that has acquired a predetermined safety certification.

14. The self-propelled work robot according to claim 1 , wherein the operating unit is capable of performing agricultural work.

15. 2. The self-propelled working robot according to claim 1, wherein the target detection unit is a sensor that has acquired a predetermined safety certification.

16. The self-propelled working robot according to claim 1 , wherein the target detection unit is capable of detecting an inclination or a width of the target.

Images