Work vehicles

Abstract

To provide a working vehicle that is easy to move within a plant cultivation facility.SOLUTION: There is provided a working vehicle that travels on a main passage in a plant cultivation facility and on travel rails 500 arranged in two rows in parallel in a sub passage between a plurality of cultivation beds 505 intersecting the main passage, rail entry position detection sensors 87L and 87R being provided on the left and right sides of the front of the traveling vehicle body to detect the travel rails 500; the distance between the rail entry position detection sensors 87L and 87R provided on the left and right sides being greater than the distance between the travel rails 500; viewing, from the main passage, the sub passage to which it will enter, if the right side rail entry position detection sensor 87R detects the end parts 500t of the travel rails 500 when the traveling vehicle body moves laterally toward the right side on the main passage, it continues to move laterally; and if both the right side rail entry position detection sensor 87R and the left side rail entry position detection sensor 87L no longer detect the ends 500t, it is determined that the entry position of the next sub passage has been reached, and the running vehicle body is stopped.SELECTED DRAWING: Figure 22

Description

[Technical field]

[0001] The present invention relates to a work vehicle, such as a transport vehicle, that transports storage buckets for storing harvested crops in a crop cultivation facility. [Background technology]

[0002] Conventionally, in order to move an unmanned agricultural vehicle along a planned course, a magnetic tape is used as a guide means along the planned course and is detected by a non-contact magnetic switch sensor on the agricultural vehicle (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 8-9790 Summary of the Invention [Problem to be solved by the invention]

[0004] According to the configuration described in Patent Document 1, the controller can determine the deviation of the traveling direction from the planned course based on the detection result of the magnetic switch sensor and output a correction to the steering mechanism. However, in a work vehicle in a plant cultivation facility, the facility passageways are formed to intersect vertically and horizontally in a plan view, and it is difficult to perform smooth work with only the guide function of the planned course because the passageways in the facility are formed to intersect vertically and horizontally in a plan view, and the direction needs to be changed at these intersections.

[0005] Therefore, an object of the present invention is to provide a work vehicle that is easy to move within a plant cultivation facility. [Means for solving the problem]

[0006] In order to achieve the above object, the present invention provides a work vehicle that travels on a main passage (504) in a plant cultivation facility and on two rows of traveling rails (500) arranged in parallel on a sub-passage (509) between a plurality of cultivation beds (505) that cross the main passage (504), Rail entry position detection sensors (87L, 87R) for detecting the traveling rail (500) are provided on the left and right sides of the front part of the traveling body (3), The distance between the rail entry position detection sensors (87L, 87R) provided on the left and right sides is greater than the distance between the traveling rails (500) arranged in two rows side by side, When the traveling body (3) moves laterally to the right on the main passage (504) toward the sub-passage (509) to be entered, as viewed from the main passage (504), if the right-side rail entry position detection sensor (87R) detects the end (500t) of the traveling rail (500) formed in an approximately U-shape, the traveling body (3) continues to move laterally. When both the right-side rail entry position detection sensor (87R) and the left-side rail entry position detection sensor (87L) thereafter no longer detect the end (500t) of the traveling rail (500), it is determined that the traveling body (3) has reached the entry position of the next sub-passage (509), and the traveling body (3) is stopped.

[0007] The invention described in claim 2 is the invention described in claim 1, wherein a first multi-directional moving wheel (404L, 404R) is provided at the front of the traveling body (3) and includes a plurality of free rollers arranged along the outer circumference of the axle, the free rollers having a rotation axis inclined at a predetermined angle with respect to the axle line (P1); A second multi-directional moving wheel (408L, 408R) is provided at the rear of the traveling body (2), and the second multi-directional moving wheel (408L, 408R) has a plurality of free rollers arranged along the outer circumference of the axle, the free rollers having a rotation axis inclined at a predetermined angle with respect to the axle line (P1), a multidirectional driven wheel (405L, 405R) is provided between the first multidirectional moving wheel (404L, 404R) and the second multidirectional moving wheel (408L, 408R) to support the load of the traveling body (3) and to be movable in all directions in the traveling direction of the traveling body (3); The work vehicle described in claim 1 is characterized in that it is provided with rollers dedicated to running on rails (500) that are used when running on the running rails (500) located above the lower ends of the first multi-directional moving wheels (404L, 404R) and the second multi-directional moving wheels (408L, 408R). Effect of the Invention

[0008] This improves the accuracy of control of the stopping position of a work vehicle. [Brief description of the drawings]

[0009] [Figure 1] 1 is a perspective view showing the appearance of a transporter vehicle according to an embodiment of the present invention; [Diagram 2] 1 is a front view of a transporter vehicle according to an embodiment of the present invention. [Diagram 3] 1 is a side view of a transporter vehicle according to an embodiment of the present invention. [Figure 4] FIG. 1A is a schematic plan view of a support transport mechanism of a lower support transport device according to an embodiment of the present invention; FIG. 1B is a schematic side view of the support transport mechanism of a lower support transport device according to an embodiment of the present invention; [Diagram 5] FIG. 2A is a front view of a rotational support member in a supporting posture according to an embodiment of the present invention, and FIG. 2B is a front view of a rotational support member in a non-supporting posture according to an embodiment of the present invention. [Figure 6] 5A to 5C are schematic plan views illustrating the operation of the lower support transport device according to the embodiment of the present invention. [Figure 7] 5A to 5C are schematic plan views illustrating the operation of the lower support transport device according to the embodiment of the present invention. [Figure 8] 5A and 5B are schematic front views illustrating the operation of a storage section at the front of a storage space according to an embodiment of the present invention. [Figure 9] 5A and 5B are schematic front views illustrating the operation of a storage section at the rear of the storage space according to the embodiment of the present invention. [Figure 10] 13A, 13B, and 13C are schematic side and front views illustrating another operation of the storage unit according to the embodiment of the present invention. [Figure 11] 13A and 13B are a schematic side view and a schematic front view illustrating another operation of the storage unit according to the embodiment of the present invention. [Figure 12] 5A is a schematic side view and a schematic front view illustrating another operation of the storage unit according to the embodiment of the present invention, and FIG. 5B is a schematic side view illustrating another operation of the storage unit according to the embodiment of the present invention. [Figure 13] 1 is a schematic bottom view of a transporter vehicle according to an embodiment of the present invention. [Figure 14] FIG. 4 is a side view of a main part around a second multidirectional wheel according to an embodiment of the present invention. [Figure 15] FIG. 1 is a schematic perspective view of a multi-directional driven wheel according to an embodiment of the present invention. [Figure 16] 1 is an explanatory diagram illustrating a state in which a transport vehicle according to an embodiment of the present invention runs onto a traveling rail. FIG. [Figure 17] FIG. 1 is an explanatory diagram illustrating a state in which a transport vehicle according to an embodiment of the present invention runs on a running rail. [Figure 18] 1 is a block diagram of a control device for a transport vehicle according to an embodiment of the present invention. [Figure 19] 1 is a schematic plan view showing an example of a cultivation facility in which a transport vehicle according to an embodiment of the present invention is used. [Figure 20] FIG. 2 is a schematic plan view illustrating a transport vehicle before entering a traveling rail according to an embodiment of the present invention. [Figure 21] FIG. 1A is a schematic plan view illustrating a laterally movable transport vehicle according to an embodiment of the present invention, and FIG. [Figure 22] 1A to 1E are schematic plan views illustrating a laterally movable transport vehicle according to an embodiment of the present invention. [Diagram 23] 1A and 1B are schematic plan views illustrating a transport vehicle on a traveling rail according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0011] Fig. 1 is a perspective view showing the appearance of a storage container transport vehicle (hereinafter, transport vehicle) 1 according to an embodiment of the present invention. Here, the X direction of the XYZ Cartesian coordinate system shown in Fig. 1 is the front of the transport vehicle 1, the -X direction is the rear, the Y direction is the left, the -Y direction is the right, the Z direction is the up, and the -Z direction is the down. In the following description, it is assumed that the transport vehicle 1 transports crops such as fruit vegetables stored in a storage container (hereinafter, storage bucket), tomatoes are assumed as the fruit vegetable crops, the tomatoes can be stored side by side in the storage bucket, and the storage bucket is formed so as to be stackable in multiple stages.

[0012] As shown in FIG. 1, the transport vehicle 1 includes a traveling body 3 provided with a storage section 31 capable of storing a plurality of storage buckets A, and is configured to be capable of traveling with the drive section 2 loaded on the traveling body 3.

[0013] The drive unit 2 includes a vertically long, substantially rectangular parallelepiped housing 21 that houses a control device C that controls various mechanisms of the transport vehicle 1 and a battery E that supplies power. The housing 21 houses the battery E, the control device C, a travel drive motor M, etc.

[0014] By arranging the battery E, the travel drive motor M, etc. at the rear lower part of the housing 21, the center of gravity of the transport vehicle 1 can be kept low, allowing for stable travel and making it easier to supply power to the travel mechanism 4 of the travel body 3 located below.

[0015] The traveling vehicle body 3 is equipped with a traveling mechanism 4 that enables the traveling vehicle body 3 to travel on traveling rails 500 laid on the ground and inside the cultivation facility. The traveling mechanism 4 will be described later.

[0016] FIG. 2 is a front view of the transporter vehicle 1 according to the embodiment of the present invention, and FIG. 3 is a side view of the transporter vehicle 1 according to the embodiment of the present invention.

[0017] As shown in Figure 2, the storage section 31 of the traveling body 3 is configured by providing a storage space S2 capable of storing multiple storage buckets A inside the left and right body frames 3L, 3R that are provided on both the left and right sides of the traveling body 3 and form the sides of the traveling body 3, and multiple storage buckets A can be stored in this storage space S2.

[0018] In the storage space S2 of the storage section 31, the storage buckets A (A1 to A12, A13 to A24) in two rows, front and rear, stacked on the bucket platform B can be taken in or sent out from the storage opening S1, which is an opening provided on the front side of the traveling body 3, and can be stored or sent out and discharged into the storage space S2 in the traveling body 3. At this time, the 12 storage buckets A (A1 to A12) stacked in the front row are stored in the front part S2f of the storage space S2, and the 12 storage buckets A (A13 to A24) stacked in the rear row are stored in the rear part S2r of the storage space S2. In addition, a discharge opening S3 through which the storage buckets A can be dropped and discharged is provided at the bottom of the storage space S2. This allows the storage section 31 to quickly and easily drop and discharge the storage buckets A (A1 to A24) from the discharge opening S3. The transport vehicle 1 configured in this way can take in multiple storage buckets A from the storage opening S1 into the storage space S2 while moving the vehicle forward. This greatly improves work efficiency.

[0019] In addition, a storage bucket detection sensor 83 that detects the storage bucket A stored in the storage section 31 is disposed at an appropriate position at the front of the traveling body 3, so that the control device C is configured to obtain information on the position of each storage bucket A within the storage section 31 and determine the positioning state of the storage bucket A within the storage section 31.

[0020] The storage section 31 is a support mechanism that supports the storage bucket A within the storage space S2, and is equipped with a lower support and transport mechanism 312 that transports the storage bucket A. As shown in Figures 2 and 3, this lower support and transport mechanism 312 is arranged at the bottom within the storage space S2 and is configured to support and transport the storage bucket A located at the bottom of the storage space S2 in the forward and backward directions.

[0021] The storage section 31 is also provided with a clamping lift mechanism that can clamp any one of the storage buckets A stacked in the storage space S2 and transport it in the vertical direction, and this clamping lift mechanism is provided with a front clamping lift mechanism 313 that is arranged in the front part S2f of the storage space S2 and configured to clamp any one of the storage buckets A located in the front part S2f of the storage space S2 and transport it in the vertical direction, and a rear clamping lift mechanism 314 that is arranged in the rear part S2r of the storage space S2 and configured to clamp any one of the storage buckets A located in the rear part S2r of the storage space S2 and transport it in the vertical direction. Also, the lower support transport device 312 is provided with a support transport mechanism 5 that is a mechanism that supports and transports the storage bucket A taken into the storage space S2 of the traveling body 3.

[0022] FIG. 4(a) is a schematic plan view of the support and transfer mechanism 5 of the lower support and transfer device 312, and FIG. 4(b) is a schematic side view of the support and transfer mechanism 5 of the lower support and transfer device 312. As shown in FIG.

[0023] Next, a configuration of the support transport mechanism 5 provided in the lower support transport device 312 will be described. The support transport mechanism 5 is provided with left and right rotating shafts 51 (51L, 51R) extending in the front-rear direction within the storage space S2 to support the storage bucket A within the storage space S2 and enable transport in the front-rear direction, and a shaft rotation motor 52 (52L, 52R) is connected to one end of the rotating shaft 51 (51L, 51R), and the rotating shaft 51 can be rotated forward and backward by driving the shaft rotation motor 52 (52L, 52R). Furthermore, the left and right pivot shafts 51 (51L, 51R) are rotatably supported by left and right support frames 53 (53L, 53R) extending in the front-to-rear direction within the storage space S2, and a plurality of pivot support members 54 (54L, 54R) are rotatably attached to the support frames 53 (53L, 53R) at equal intervals along the longitudinal direction.

[0024] The pivot support members 54 (54L, 54R) are provided in a pair on the left and right sides within the storage space S2 and are configured to support the storage bucket A from both the left and right sides. In addition, the rotating support members 54 (54L, 54R) each have a roller section 541 (541R, 541L) that is rotatably arranged to transport the storage bucket in a supported state, and a rotating shaft 542 (542L, 542R) whose both ends are supported by penetrating the support frame 53 (53L, 53R), and the rotating shaft 542 (542L, 542R) each has a roller section 541 (541R, 541L) at its inner end, an outer sprocket 544 (544R, 544L) at its outer end, sandwiched between the inner end and the support frame 53 (53L, 53R), and an inner sprocket 543 (543L, 543R) is provided at a position slightly inward from the outer end of the rotating shaft 542 (542L, 542R).

[0025] As shown in FIG. 4(a), chain motors 55 (55L, 55R) for rotating the roller portions 541 (541R, 541L) are provided at the rear ends of the left and right support frames 53 (53L, 53R), respectively.

[0026] The inner sprocket 543 (543L, 543R) of the pivot support member 54 (54L, 54R) disposed at the rearmost end adjacent to the chain motor 55 (55L, 55R) is connected to the chain motor 55 (55L, 55R) by an endless chain 56 (56L, 56R). The outer sprockets 544 (544R, 544L) of the support frame 53 (54L, 54R) and the inner sprockets 543 (543L, 543R) are alternately connected by an endless chain 56 (56L, 56R), so that when the chain motor 55 (55L, 55R) is driven, the driving force is transmitted from the pivot support member 54 (54L, 54R) disposed at the rearmost end of the support frame 53 (53L, 53R) to the pivot support member 54 (54L, 54R) disposed at the frontmost end. This allows the roller parts 541 (541R, 541L) of the pivot support members 54 (54L, 54R) to rotate synchronously around the rotation shaft 542 (542L, 542R) in a clockwise or counterclockwise direction in response to the drive of the chain motor 55 (55L, 55R). Thus, the support transport mechanism 5 is configured to transport the storage bucket A supported by the rotatable support members 54 (54L, 54R) in a forward direction or a backward direction by rotating the rotatable support members 54 (54L, 54R).

[0027] 5(a) shows the rotatable support member 54 in a supporting position, and FIG. 5(b) shows the rotatable support member 54 in a non-supporting position. The support and transport mechanism 5 is configured such that when the rotating shaft 542 (542L, 542R) rotates by the drive of the shaft rotation motor 52 (51L, 52R), the roller portion 541 (541R, 541L) of the rotatable support member 54 (54L, 54R) rotates up and down around the rotating shaft 51 (51L, 51R) in conjunction with the rotation. As a result, the rotatable support member 54 (54L, 54R) can be switched between a supporting position in which the rotating shaft 542 (542L, 542R) is horizontal and a non-supporting position in which the rotating shaft 542 (542L, 542R) is inclined.

[0028] As shown in Fig. 5(a), in the supporting position of the rotating support member 54, the roller portions 541 (541R, 541L) protrude inward into the storage space S2 as if lifting their necks, thereby contacting the outer frame of the storage bucket A from below and supporting the storage bucket A from both the left and right sides. As shown in Fig. 5(b), in the non-supporting position of the left and right roller portions 541 (541R, 541L), the left and right roller portions 541 (541R, 541L) are rotated downward as if hanging their necks due to the rotation of the rotating shaft 51 (51L, 51R), and a space of left and right width that does not interfere with the outer frame of the storage bucket A is secured between the left and right roller portions 541 (541R, 541L). In this way, the left and right rotating support members 54 (54L, 54R) support the storage bucket A in the supporting position, and are configured with a gap therebetween so as not to interfere with the storage bucket A in the non-supporting position. As a result, by switching from the non-supporting position to the supporting position, the storage bucket A located within the storage space S2 is lifted and supported, and by switching from the supporting position to the non-supporting position, the supported storage bucket A is released and placed down. In the non-supporting position, the storage bucket A is configured to pass between the left and right roller portions 541 (541R, 541L) when storing the storage bucket A in the storage space S2 of the traveling body 3, or when dropping and discharging the storage bucket A from the discharge opening S3, and further when moving the storage bucket A from the storage space S2 to the outside as the traveling body 3 travels.

[0029] 6 and 7 are schematic plan views of the lower support conveying device 312. As shown in FIG. 6 and FIG. 7, the front-rear width of the storage space S2 in the traveling body 3 is set to a length that can accommodate the storage buckets A stacked in two stages, front and rear. As described above, the storage bucket A supported by the rotating support members 54 (54L, 54R) can be conveyed in the front-rear direction according to the forward or reverse drive of the chain motor 55 (55L, 55R) of the lower support conveying device 312. When the chain motor 55 (55L, 55R) is driven forward, as shown in FIG. 6, the storage bucket A can be conveyed forward (in the direction of the arrow) by the rotational movement of the left and right roller parts 541 (541R, 541L). This makes it possible to convey the storage bucket A located at the rear part S2r of the rear storage space S2 to the front part S2f of the front storage space S2.

[0030] In addition, when the chain motor 55 (55L, 55R) is driven in the reverse direction, as shown in FIG. 7, the storage bucket A can be transported rearward (in the direction of the arrow) by the rotational movement of the left and right roller portions 541 (541R, 541L). This makes it possible to transport the storage bucket A located at the front portion S2f of the forward storage space S2 to the rear portion S2r of the rear storage space S2.

[0031] The storage section 31 is configured to support the storage bucket A (A1 to A24) by the rotating support members 54 (54L, 54R) and load the storage bucket A (A1 to A24) into the traveling body 3 by switching the left and right rotating support members 54 (54L, 54R) of the lower support transport device 312 (312L, 312R) from a non-supporting position to a supporting position after storing the storage bucket A (A1 to A24) in the storage space S2, after storing the storage bucket A (A1 to A24) in the storage space S2, after storing the storage bucket A (A1 to A24) in the storage space S2, by storing the storage bucket A (A1 to A24) in the storage space S2, and then storing the storage bucket A (A1 to A24) in the storage space S2. The storage bucket A is supported by the left and right rotating support members 54 (54L, 54R) of the lower support transport device 312 (312L, 312R) and ...). The storage bucket A is supported by the left and right rotating support members 54 (54L, 54R) of the lower support transport device

[0032] Left and right front clamping lift mechanisms 313 (313L, 313R) are provided on the left and right sides of the storage section 31 in the front part S2f of the storage space S2. The left and right front clamping lift mechanisms 313 (313L, 313R) each include a vertical movement mechanism 61L, 61R configured to be vertically movable by an electric slider, and left and right clamping claws 62L, 62R attached to the vertical movement mechanisms 61L, 61R.

[0033] The left and right clamping claws 62L, 62R are opened and closed under the control of the control device C. In the closed state, as shown in Figure 8(a), the tips are stored with their tips facing vertically. In the open state, as shown in Figure 8(b), the tips are directed toward the inside of the storage space S2 and engage with both sides of the outer frame of the storage bucket A to clamp the storage bucket A.

[0034] The front clamping lift mechanism 313 (313L, 313R) configured in this manner is capable of clamping and vertically transporting any one of the storage buckets A (A1 to A12) stacked in the front part S2f of the storage space S2 by sliding and moving the left and right clamping claws 62L, 62R in the front part S2f of the storage space S2 and selecting the height position at which it opens.Furthermore, when the storage bucket A is clamped, the left and right clamping claws 62L, 62R can be closed to release and place the storage bucket A.

[0035] Next, the front-rear swap transport operation of bucket A by the cooperation of the lower support transport device 312 (312L, 312R) and the front clamping lift mechanism 313 (313L, 313R) will be described. First, under the control of the control device C, the front clamping lift mechanism 313 (313L, 313R) drives the up-down movement mechanisms 61L, 61R while clamping the storage bucket A, and slides the left and right clamping jaws 62L, 62R upward, thereby separating and lifting the second-tier bucket A (A2) from the bottom-most storage bucket A (A1) supported by the lower support transport device 312 (312L, 312R), as shown in FIG. 8(b).

[0036] As a result, in the storage section 31, with the second-lowest bucket A (A2) separated and lifted, the rotating support members 54 (54L, 54R) of the lower support transport device 312 (312L, 312R) are rotated under the control of the control device C, and the bottommost storage bucket A (A1) is transported rearward. In this way, the storage section 31 is configured to be able to move the storage buckets A stacked in the front part S2f of the storage space S2 from the front part S2f to the rear part S2r.

[0037] As shown in Figures 9(a) and 9(b), left and right rear clamping lift mechanisms 314 (314L, 314R) are provided on both sides of the storage section 31 in the rear part S2r of the storage space S2, similar to the front part S2f. The left and right rear clamping lift mechanisms 314 (314L, 314R) are respectively equipped with vertical movement mechanisms 71L, 71R using electric sliders, and left and right clamping claws 72L, 72R attached to the vertical movement mechanisms 71L, 71R. The rear clamping lift mechanisms 314 (314L, 314R) configured in this manner are capable of the same basic operations as the front clamping lift mechanisms 313 (313L, 313R).

[0038] Next, the operation of stacking and recovering the storage buckets A will be described with reference to Fig. 10. The four-tiered storage buckets A (A13-A16) are transported from the front S2f of the storage space S2 or positioned at the rear S2r by the forward movement of the traveling body 3, and another four tiers of storage buckets A (A1-A4) are positioned at the front S2f by the forward movement of the traveling body 3 (Fig. 10(a)). Next, the storage buckets A (A13-A16) on the rear S2r side of the storage space S2 are clamped and transported upward by the rear clamping lift mechanism 314 (314L, 314R) and raised to a height equivalent to four tiers of storage buckets A. The storage buckets A (A1 to A4) of the front section S2f are then transported to the empty space of the rear section S2r by the lower support transport device 312, which is driven in the reverse direction by the chain motor 55 (55L, 55R), and the transported storage buckets A (A1 to A4) are placed on the ground and wait for the lower support transport device 312 to switch to a non-supporting position (FIG. 1(b)). Also, by lowering the storage buckets A (A13 to A16) that are being clamped and transported above, a total of eight storage buckets A (A1 to A4, A13 to A16) can be stacked, and the rear clamp lift mechanism 314 (314L, 314R) is lowered to engage the lowest storage bucket A1 (FIG. 1(c)). In this way, the eight storage buckets A (A1 to A4, A13 to A16) can be lifted simultaneously, and when the lower support transport device 312 is placed in a supporting position, they can be stored in the rear section S2r of the storage space S2. Also, they can be sent to the front section S2f in a stacked state by the lower support conveyor device 312 and stored therein. Furthermore, they can be sent out as they are and conveyed to the outside of the machine.

[0039] Next, the operation of dividing the storage buckets A into a predetermined number of stages and lowering them will be described with reference to Fig. 11. When storage buckets A are stacked in both the front S2f and rear S2r of the storage space S2, the storage buckets A (A1-A12) on the front S2f side are lowered first, followed by the storage buckets A (A13-A24) on the rear S2r side. When the front clamping lift mechanism 313 (313L, 313R) engages and lifts the fifth storage bucket A5 from the bottom, the fourth storage bucket A (A1-A4) from the bottom is separated and left behind. These remaining storage buckets A (A1-A4) can be discharged downward from the discharge opening S3 at the bottom of the storage space S2. That is, by switching the rotating support member 54 of the non-driven lower support transport device 312 (312L, 312R) from the supporting position to the non-supporting position, the four tiers of storage buckets A (A1 to A4) can be lowered downward (FIG. 11(a)). Then, after the traveling body 3 is moved backward and stopped at an appropriate position, the front clamping lift mechanism 313 (313L, 313R) is lowered and the lowest storage bucket A5 reaches the position of the rotating support member 54 (54L, 54R) of the non-driven lower support transport device 312 (312L, 312R) and is released from the support of the front clamping lift mechanism 313 (313L, 313R), and the eight tiers of storage buckets A (A5 to A12) are received by the rotating support member 54 (54L, 54R) (FIG. 11(b)). When the rotating support member 54 of the partial support conveying device 312 (312L, 312R) is switched from the supporting position to the non-supporting position from this state, the support of the storage bucket A (A5-A12) is released and it falls downward. In this way, the storage bucket A (A1-A12) stacked in multiple stages can be divided and dropped and discharged, which reduces the impact compared to when they are all dropped at once and allows work to be done without damaging the storage bucket A or the stored fruit.

[0040] When the front part S2f of the storage space S2 is empty, the storage buckets A (A13 to A24) stacked in the rear part S2r are divided and dropped and discharged in the same manner as above.

[0041] Next, with reference to Fig. 12, an operation for discharging the storage buckets A stacked in multiple tiers from the storage opening S1 on the front side of the traveling body 3 will be described. The storage buckets A (A1-A12) are stored in the front part S2f of the storage space S2 of the storage unit 31, and the storage buckets A (A13-A24) are stored in 12 tiers in the rear part S2r, and are supported by the rotating support members 54 in the support position of the non-driven lower support transport device 312 (312L, 312R). Note that the front clamping lift mechanism 313 (313L, 313R) and the rear clamping lift mechanism 314 (314L, 314R) are in a non-clamping state, and the 12 tiers of storage buckets A (A1-A12, A13-A24) are supported by the lower support transport device 312 (312L, 312R) (Fig. 12(A)).

[0042] In the above-mentioned storage bucket storage state, for example, when the storage bucket A (A13-A24) in the rear S2r needs to be removed first in the sorting area, driving the lower support conveyor device 312 (312L, 312R), i.e., driving the chain motor 55 (55L, 55R) in the forward direction, moves the storage bucket A (A1-A12) in the front S2f from the storage opening S1 on the front side of the traveling body 3 onto the bucket platform B, and moves the storage bucket A (A1-A12) in the rear S2r to the front S2f side (FIG. 1B). By positioning the storage buckets in the front S2f in this way, it is possible to improve operability, such as one-stage bucket removal.

[0043] By providing the lower support transport device 312 (312L, 312R), the storage buckets A can be taken in and out of the storage section 31 in a stacked state. In addition, in combination with the clamping operation of the front clamping lift mechanism 313 (313L, 313R) and the rear clamping lift mechanism 314 (314L, 314R) for clamping the storage bucket A at any height, the storage buckets A at any level can be taken in and out of the storage section 31.

[0044] The running mechanism of the transport vehicle will be described in detail with reference to FIG.

[0045] 13, the left side of the drawing is the front side of the transport vehicle 1, and the right side of the drawing is the rear side of the transport vehicle 1. Here, beams 320L, 320R, which are reinforcing frames extending in the front-rear direction of the vehicle, are integrally attached to the lower parts of the left and right body frames 3L, 3R closer to the inside than the left and right ends of the traveling body 3, and this pair of left and right beams 320L, 320R is configured to increase the rigidity of the left and right body frames 3L, 3R.

[0046] The traveling mechanism provided under the left and right body frames 3L, 3R includes, in order from the front side of the traveling body 3, rail guide rollers 401L, 401R, first rail traveling rollers 402L, 402R, first rail support rollers 403L, 403R, first multidirectional moving wheels 404L, 404R, multidirectional driven wheels 405L, 405R, second rail traveling rollers 406L, 406R, second rail support rollers 407L, 407R, second multidirectional moving wheels 408L, 408R, and third rail traveling rollers 409L, 409R, which are arranged symmetrically with respect to the center line Cl of the traveling body 3. The center of gravity G shown in FIG. 13 indicates the position of the center of gravity of the transport vehicle 1 (hereinafter referred to as center of gravity G).

[0047] The transport vehicle 1 is configured to run on the ground as a four-wheel drive with the first multidirectional wheels 404L, 404R as the front wheels and the second multidirectional wheels 408L, 408R as the rear wheels, and the first multidirectional wheels 404L, 404R and the second multidirectional wheels 408L, 408R are ground-contact wheels. The multidirectional driven wheels 405L, 405R are driven wheels for supporting the load of the transport vehicle 1.

[0048] The first multidirectional wheels 404L, 404R, the multidirectional driven wheels 405L, 405R and the second multidirectional wheels 408L, 408R are disposed on the lower parts of the left and right body frames 3L, 3R, respectively, outside the beams 320L, 320R, and are disposed in a straight line in the front-rear direction. The multidirectional driven wheels 405L, 405R are disposed between the first multidirectional wheels 404L, 404R and the second multidirectional wheels 408L, 408R. Here, the end 500t of the traveling rails 500 arranged in two rows is formed in a substantially U-shape to circulate hot water, and the transport vehicle 1 enters onto the traveling rails 500 from this end. Therefore, the left and right first multidirectional moving wheels 404L, 404R, the multidirectional driven wheels 405L, 405R and the second multidirectional moving wheels 408L, 408R are each arranged further apart in the left-right direction than the left-right width D of the running rails 500 arranged in two rows, thereby enabling the transport vehicle 1 to enter onto the running rails 500.

[0049] Although not shown in Figure 13, a rail entry position detection sensor 87 that detects the end 500t of the traveling rail 500 and a bucket base detection sensor 85 that detects the bucket base B are provided at appropriate positions at the front of the traveling body 3.

[0050] The rail guide rollers 401L, 401R, the first rail traveling rollers 402L, 402R, the first rail support rollers 403L, 403R, the second rail traveling rollers 406L, 406R, the second rail support rollers 407L, 407R, and the third rail traveling rollers 409L, 409R are dedicated rollers for traveling on rails that are used when the transport vehicle 1 travels on the traveling rail 500. Therefore, all of these dedicated rollers for traveling on rails are not in contact with the ground and are positioned in the air when the transport vehicle 1 travels outside the traveling rail 500. In other words, the lower ends of these dedicated rollers for traveling on rails are all disposed so as to be positioned higher than the lower ends of the first multidirectional wheels 404L, 404R and the second multidirectional wheels 408L, 408R.

[0051] In addition, when the transport vehicle 1 is running on the running rail 500, the running body 3 is supported on the running rail 500 by the first rail running rollers 402L, 402R, the second rail running rollers 406L, 406R, and the third rail running rollers 409L, 409R, and the first multi-directional moving wheels 404L, 404R and the second multi-directional moving wheels 408L, 408R do not touch the ground and are positioned in mid-air.

[0052] With a configuration in which the first rail traveling rollers 402L, 402R are arranged in front of the first multidirectional moving wheels 404L, 404R, the second rail traveling rollers 406L, 406R are arranged between the first multidirectional moving wheels 404L, 404R and the second multidirectional moving wheels 408L, 408R, and the third rail traveling rollers 409L, 409R are arranged behind the second multidirectional moving wheels 408L, 408R, the load of the transport vehicle 1 traveling on the traveling rail 500 can be well distributed and supported by the traveling rail 500, and deflection of the traveling rail 500 can be reduced (see FIG. 17).

[0053] The running mechanism of the transporter vehicle 1 will be explained in more detail below.

[0054] The left and right rail guide rollers 401L, 401R are provided at the front end of the traveling body 3 and have a rotation axis in the up-down direction relative to the traveling body 3, that is, they are driven rollers that rotate laterally.

[0055] The left and right rail guide rollers 401L, 401R are arranged to be at approximately the same height as the running rails 500. As a result, when they come into contact with the left and right sides of the running rails 500 arranged side by side in two rows, they rotate due to frictional force, guiding the transport vehicle 1 along the running rails 500 and preventing misalignment in the left-right direction relative to the extension direction of the running rails 500, thereby preventing the transport vehicle 1 from deviating from the direction of travel on the running rails 500.

[0056] The left and right rail guide rollers 401L, 401R are arranged at an interval wider than the left and right width D of the traveling rails 500 arranged in two rows. As a result, even if the position of the transport vehicle 1 relative to the traveling rail 500 is shifted left and right when the transport vehicle 1 enters the traveling rail 500, the left and right rail guide rollers 401L, 401R in contact with the traveling rail 500 guide the traveling direction of the transport vehicle 1, so that the transport vehicle 1 can ride up onto the traveling rail 500 while allowing a positional deviation in the left and right direction within a predetermined range. As a result, the transport vehicle 1 can stably ride up onto the traveling rail 500 while correcting the left and right positional deviation in the traveling direction of the transport vehicle 1 relative to the extension direction of the traveling rail 500. As a result, smooth entry onto the traveling rail 500 is possible, improving work efficiency.

[0057] The first rail traveling rollers 402L, 402R are disposed at the front of the traveling body 3 and have a rotation axis in the left-right direction with respect to the traveling body 3, that is, are vertically rotating drive rollers, and are provided so as to be capable of forward and reverse rotation under the control of the control device C. The first rail traveling rollers 402L, 402R support the traveling body 3 on the traveling rail 500 when the transport vehicle 1 enters the traveling rail 500 and when it travels, and perform the function of imparting a propulsive force to the traveling body 3 by rotational drive. In particular, when the transport vehicle 1 enters the traveling rail 500, the first rail traveling rollers 402L, 402R are disposed at the front of the traveling body 3, so that the transport vehicle 1 can smoothly ride up onto the traveling rail 500. In addition, since the first rail traveling rollers 402L, 402R are provided so as to be capable of forward and reverse rotation, sufficient driving force can be obtained when the transport vehicle gets on and off the traveling rail 500, even if the first multidirectional moving wheels 404L, 404R are not in contact with the ground.

[0058] The first rail traveling rollers 402L, 402R are configured to rotate by power transmitted from rail traveling transmission motors 402L2, 402R2 via bevel gears 402L1, 402R1, respectively. Here, by using the bevel gears 402L1, 402R1, the left and right width is reduced compared to a configuration in which power is transmitted linearly, and protrusion into the accommodation space S2 and outward of the traveling vehicle body 3 is prevented. In addition, the first rail traveling rollers 402L, 402R are provided at the lower part of the beam parts 320L, 320R, and are configured to be able to support the load of the transport vehicle 1 while withstanding it well.

[0059] The second rail running rollers 406L, 406R and the third rail running rollers 409L, 409R are arranged on the left and right sides, respectively, in the same straight line in the fore-and-aft direction of the first rail running rollers 402L, 402R, with the second rail running rollers 406L, 406R arranged at the rear of the running body 3 and the third rail running rollers 409L, 409R arranged at the rear end of the running body 3.

[0060] The second rail running rollers 406L, 406R and the third rail running rollers 409L, 409R have a rotation axis in the left-right direction, i.e., they are driven rollers that can freely rotate vertically.When the transport vehicle 1 runs on the running rail 500, they support the running body 3 and also function to reduce frictional force with the running rail 500.

[0061] The first rail traveling rollers 402L, 402R, the second rail traveling rollers 406L, 406R, and the third rail traveling rollers 409L, 409R are arranged in a straight line in the front-to-rear direction and are provided under the beams 320L, 320R. This allows the rollers to withstand and support the load of the transport vehicle 1 well, and being provided under the beams 320L, 320R makes it possible to preferably prevent deformation of the left and right body frames 3L, 3R in response to an increase in load caused by a decrease in the contact area when the traveling rail 500 is traveling.

[0062] The third rail traveling rollers 409L, 409R are provided with a rotary encoder (not shown in FIG. 13) which is a rotation detection sensor 86, and the number of rotations of the third rail traveling rollers 409L, 409R can be detected. The control device C acquires the detection information of the rotation detection sensor 86, so that the travel distance of the transport vehicle 1 can be measured, and further, it is possible to determine whether or not the rear part of the transport vehicle 1 is on the traveling rail 500.

[0063] Here, if a rotation detection sensor 86 is provided on the drive roller, an error will occur between the number of rotations and the actual travel distance when the roller skids. However, by providing the rotation detection sensor 86 on the third rail traveling rollers 409L, 409R, which are the driven rollers, the travel distance can be measured more accurately.

[0064] The first rail support rollers 403L, 403R have a vertical rotation axis relative to the running body 3, i.e., they are driven rollers that can rotate freely horizontally, and the left-right spacing of the first rail support rollers 403L, 403R is slightly narrower than the left-right spacing of the left-right rail guide rollers 401L, 401R, and they are spaced apart so that their width is approximately the same as the left-right width D of the running rails 500 arranged side by side in two rows.

[0065] The first rail support rollers 403L, 403R are provided at the front of the traveling body 3, and when the transport vehicle 1 travels on the traveling rails 500, they abut on both sides of the traveling rails 500 arranged side by side in two rows, effectively preventing left and right positional deviation of the front of the traveling body 3. The rear of the traveling body 3 is provided with second rail support rollers 406L, 406R with a configuration similar to that of the first rail support rollers 403L, 403R, and effectively prevents left and right positional deviation of the rear of the traveling body 3.

[0066] With this configuration, when the transport vehicle 1 travels on the traveling rail 500, the first rail support rollers 403L, 403R and the second rail support rollers 406L, 406R guide the traveling direction of the transport vehicle 1 while effectively preventing left and right positional deviation with respect to the extension direction of the traveling rail 500. As a result, the transport vehicle 1 can accurately take in the storage buckets A (A1 to A8) arranged between the traveling rails 500 arranged in two rows (see FIG. 16).

[0067] The running body 3 is equipped with first multidirectional wheels 404L, 404R that function as the front wheels of a four-wheel drive system, and second multidirectional wheels 408L, 408R that function as the rear wheels, and the first multidirectional wheels 404L, 404R and the second multidirectional wheels 408L, 408R are ground-contact wheels.

[0068] The first multidirectional wheels 404L, 404R and the second multidirectional wheels 408L, 408R are arranged so that they can be driven independently on the left and right sides, and the control device C controls the rotation direction and rotation speed of the left and right first multidirectional wheels 404L, 404R and the left and right second multidirectional wheels 408L, 408R, respectively, thereby enabling the running body 3 to move in all directions.

[0069] Specifically, the first multidirectional wheels 404L, 404R have their rotation axis on an axle line P1 extending in the left-right direction at the front of the traveling body 3. The wheel configuration of the first multidirectional wheels 404L, 404R is generally called a Mecanum wheel, and multiple free rollers (12 wheels in this embodiment) with rotation axes inclined at a predetermined angle with respect to the axle line P1 are provided along the outer periphery of the wheel.

[0070] The second multidirectional wheels 408L, 408R have their rotation axes on an axle line P3 extending in the left-right direction at the rear of the traveling body 3. The second multidirectional wheels 408L, 408R are configured as Mecanum wheels, similar to the first multidirectional wheels 404L, 404R.

[0071] As shown in FIG. 13, the center of gravity G is located below the front of the housing 21, and the first multidirectional wheels 404L, 404R and the second multidirectional wheels 408L, 408R are arranged at equal distances from the center of gravity G. When the loads on the four wheels of the Mecanum wheel are different, deviations occur in lateral movement and turning. Therefore, by arranging the first multidirectional wheels 404L, 404R and the second multidirectional wheels 408L, 408R at equal distances from the center of gravity of the transport vehicle 1, the load is evenly applied, and the transport vehicle 1 can move smoothly when moving laterally or turning. In addition, since the harvesting unit 2 is arranged on the traveling body 3 so that the center of gravity G is located below the front of the housing 21, the travel of the transport vehicle 1 by the first multidirectional wheels 404L, 404R and the second multidirectional wheels 408L, 408R is further stabilized.

[0072] The left and right first multidirectional wheels 404L, 404R obtain driving force from first electric motors 404L2, 404R2 which receive power from a battery E. Power is transmitted from the first electric motors 404L2, 404R2 to the first multidirectional wheels 404L, 404R by bevel gears 404L1, 404R1, changing the direction of the rotation shaft of the first electric motors 404L2, 404R2 by 90 degrees, thereby preventing an increase in the left and right width of the drive mechanism of the multidirectional wheels 404L, 404R, preventing the occurrence of protruding parts inside and outside the body frames 3L, 3R, securing the accommodation space S2, and effectively preventing contact with obstacles.

[0073] The second multidirectional wheels 408L, 408R, like the first multidirectional wheels 404L, 404R, are configured with a second electric motor 408L2, 408R2 that receives power from a battery E and provides driving force to the second multidirectional wheels 408L, 408R, and bevel gears 408L1, 408R1 that change the direction of the rotation axis of the second electric motor 408L2, 408R2 by 90 degrees to transmit power to the second multidirectional wheels 408L, 408R.

[0074] Next, a method of mounting the first multidirectional wheels 404L, 404R and the second multidirectional wheels 408L, 408R to the traveling body 3 will be described using the second multidirectional wheel 408L as an example.

[0075] The second multidirectional wheels 408L, the second electric motor 408L2, and the bevel gear 408L1 are modularized as assembly parts (ASSY units), making repair and replacement easy. Similarly, the first multidirectional wheels 404L, 404R, the second multidirectional wheels 408R, the first rail running rollers 402L, 402R, the second rail support rollers 407L, 407R, and the rotation detection sensor 86 are also modularized.

[0076] Fig. 14 is a side view of the main part around the second multidirectional wheel 408L. As shown in Fig. 14, the second multidirectional wheel 408L is configured such that an attachment member 411 that supports the second multidirectional wheel 408L can rotate around an attachment connecting shaft 410 attached to the traveling body 3, and an elastic member 412 made of rubber is disposed between the attachment member 411 and the body frame 3L. The same is true for the first multidirectional wheels 404L, 404R and the second multidirectional wheel 408R.

[0077] With this configuration, the first multidirectional wheels 404L, 404R and the second multidirectional wheels 408L, 408R have a shock-absorbing capacity. As a result, when the transport vehicle 1 travels over steps or uneven surfaces, the multidirectional wheels 404L, 404R move up and down according to the height of the ground contact surface while receiving the load of the traveling body 3, and are configured to be able to maintain good contact with the ground.

[0078] Here, the left and right body frames 3L, 3R have rectangular cutouts 321L1, 321R1 provided above the first multidirectional wheels 404L, 404R, and rectangular cutouts 321L2, 321R2 provided above the second multidirectional wheels 408L, 408R (FIGS. 1 and 2). In FIG. 14, the cutouts are provided in the range indicated by the arrow d.

[0079] Furthermore, the upper ends of the multidirectional wheels 404L, 404R are configured to be positioned above the cutouts 321L, 321R, and the same is true for the second multidirectional wheels 408L, 408R and the cutouts 321L2, 321R2. This reduces the overall height of the traveling body 3, and effectively prevents the transport vehicle 1 from coming into contact with plants during transportation. Even if the first multidirectional wheels 404L, 404R and the second multidirectional wheels 408L, 408R move up and down relative to the traveling body 3 due to their cushioning capacity, interference with the body frames 3L, 3R is prevented.

[0080] 15 is a schematic perspective view of the multidirectional driven wheel 405. The left and right multidirectional driven wheels 405L, 405R are driven wheels that can follow in all directions in the traveling direction of the traveling body 3. The left and right multidirectional driven wheels 405L, 405R are generally called Omniwheels (registered trademark), and have a rotation axis of the wheel on an axle line P2 extending in the left-right direction, and a plurality of free rollers (six wheels in this embodiment) whose rotation axes are perpendicular to the axle line P2 are provided along the outer periphery of the wheel.

[0081] Here, the first multidirectional wheels 404L, 404R and the second multidirectional wheels 408L, 408R are provided with a plurality of free rollers along the outer circumference of the wheels, and an overload may occur on the free rollers when the transport vehicle 1 is traveling. Therefore, by disposing the multidirectional driven wheels 405L, 405R that can be driven in all directions between the first multidirectional wheels 404L, 404R and the second multidirectional wheels 408L, 408R, the load of the transport vehicle 1 can be supported without impeding the movement of the transport vehicle 1 in all directions, and an overload on the first multidirectional wheels 404L, 404R and the second multidirectional wheels 408L, 408R can be prevented.

[0082] Here, the lower ends of the multidirectional driven wheels 405L, 405R are arranged at a higher height than the lower ends of the first multidirectional wheels 404L, 404R and the second multidirectional wheels 408L, 408R, and are configured to be located slightly above the ground and not touch the ground when the transport vehicle 1 is traveling on a normal flat surface. When a load is applied to the traveling body 3 and it sinks, the multidirectional driven wheels 405L, 405R are configured to touch the ground and support the load of the transport vehicle 1. With this configuration, during normal traveling, the multidirectional driven wheels 405L, 405R do not touch the ground, so that they do not interfere with the movement or turning of the first multidirectional wheels 404L, 404R and the second multidirectional wheels 408L, 408R, and can favorably support the load of the transport vehicle 1 when a load is applied to the traveling body 3.

[0083] Here, the intersection of the axle line P2 of the multidirectional driven wheels 405L, 405R and the center line Cl of the traveling body 3 is provided near the center of gravity G, so that the multidirectional driven wheels 405L, 405R are configured to easily support the load of the transport vehicle 1. This makes the transport vehicle 1 travel more stable.

[0084] 15 is a block diagram of the control device C of the transporter vehicle 1. The control device C controls the overall operation of the transporter vehicle 1.

[0085] Connected to the input side of the control device C are a storage bucket detection sensor 83 for detecting the position of the storage bucket A stored in the storage section 31, a travel position detection sensor 84 for detecting the position of the transport vehicle 1 in the cultivation facility, a bucket platform detection sensor 85 for detecting the bucket platform B, a rotation detection sensor 86 for detecting the number of rotations of the third rail travel rollers 409L, 409R, and a rail entry position detection sensor 87 for detecting the end 500t of the travel rail 500. The rail entry position detection sensor 87, which will be described in detail later, is provided on the left and right front of the travel body 3, and constitutes a rail entry position determination means that can determine whether the left and right positions of the transport vehicle 1 are at the entry position just before the travel rail 500 based on the detection results of the left and right rail entry position detection sensors 87L, 87R.

[0086] In addition, the output side of the control device C is electrically connected to the traveling mechanism 4 of the traveling body 3, the shaft rotation motor 52, the chain motor 55, the up and down movement mechanisms 61L, 61R, and the clamping claw opening and closing mechanism 88, which is a mechanism for opening and closing the clamping claws 62L, 62R, 72R, 72L, and the operations of these can be controlled by the control device C.

[0087] The control device C of the transport vehicle 1 configured in this manner is configured to drive the first rail running rollers 402L, 402R in addition to driving the first multidirectional moving wheels 404L, 404R and the second multidirectional moving wheels 408L, 408R when the control device C detects the end 500t of the running rail 500 using the rail entry position detection sensor 87 when the vehicle enters the running rail 500.

[0088] This eliminates the need for a sensor to detect entry onto the traveling rail 500, and ensures sufficient driving force even if there is a step or deviation when entering the traveling rail 500. As a result, it is possible to smoothly enter onto the traveling rail 500.

[0089] In addition, when it is determined based on detection information from the storage bucket detection sensor 83 and the bucket platform detection sensor 85 that the transport vehicle 1 has taken the storage bucket A into the traveling body 3 after entering the traveling rail 500 and that the loading of the storage bucket A into the traveling body 3 has been completed, it is determined that the transport vehicle 1 has completely and normally entered the traveling rail, and the drive of the first multidirectional wheels 404L, 404R and the second multidirectional wheels 408L, 408R is stopped. This makes it possible to prevent the drive wheels from being unnecessarily driven while traveling on the traveling rail 500, thereby reducing power consumption.

[0090] In addition, when the rotation detection sensor 86 detects the rotation of the third rail traveling rollers 409L, 409R after the transport vehicle 1 enters the traveling rail 500, it may be determined that the transport vehicle 1 has completely and normally entered the traveling rail, and the drive of the first multidirectional wheels 404L, 404R and the second multidirectional wheels 408L, 408R may be stopped. In this way, when the transport vehicle 1 has completely climbed up onto the traveling rail 500, the drive of the first multidirectional wheels 404L, 404R and the second multidirectional wheels 408L, 408R can be quickly stopped.

[0091] Furthermore, when the rotation detection sensor 86 no longer detects the rotation of the third rail traveling rollers 409L, 409R after the transport vehicle 1 enters the traveling rail 500, it may be determined that the transport vehicle 1 has left the traveling rail 500, and the driving of the first multidirectional wheels 404L, 404R and the second multidirectional wheels 408L, 408R may be resumed. This allows the transport vehicle 1 to suitably transition to traveling on the ground while suppressing power consumption.

[0092] Furthermore, when the control device C of the transport vehicle 1 determines that the dropping and discharging of the storage bucket A onto the bucket platform B from the discharge opening S3 of the storage section 31 has been completed after the work is completed based on the detection information from the storage bucket detection sensor 83 and the bucket platform detection sensor 85, it is configured to drive the first multidirectional wheels 404L, 404R and the second multidirectional wheels 408L, 408R that were stopped in order to descend from the traveling rail 500. As a result, the first multidirectional wheels 404L, 404R and the second multidirectional wheels 408L, 408R are driven, allowing the transport vehicle 1 to be smoothly lowered from the traveling rail 500.

[0093] After the transport vehicle 1 enters the traveling rail 500, when it is determined from detection information from the storage bucket detection sensor 83 and the bucket platform detection sensor 85 that the storage bucket A has been taken into the traveling body 3 and that the loading of the storage bucket A into the traveling body 3 has been completed, it is determined that the transport vehicle 1 has completely and normally entered the traveling rail, and the drive of the first multidirectional moving wheels 404L, 404R and the second multidirectional moving wheels 408L, 408R is stopped. This makes it possible to prevent the drive wheels from being unnecessarily driven while traveling on the traveling rail 500, thereby reducing power consumption.

[0094] FIG. 19 shows an example of a cultivation facility in which the transport vehicle 1 is used. This cultivation facility includes a cultivation room 501, which is a greenhouse in which the indoor environment, such as temperature and humidity, is controlled by a heater, a humidifier, etc., and a shipping room 502 adjacent to the cultivation room 501. In the center of the cultivation room 1, a main passage 504 is provided through which workers, the transport vehicle 1, or a pest control vehicle can pass, and this main passage 504 is a concrete passage whose road surface is made of concrete. At the lateral positions on both sides of the main passage 504, a cultivation space 506 for cultivating crops is formed by arranging a large number of cultivation beds 505, which are cultivation units. The cultivation beds 505 are cultivation beds formed of rock wool, which is a medium, and a nutrient solution is supplied to each cultivation bed 505 from a nutrient solution supplying device 507 in the shipping room 502. In addition, entrances 508 to the cultivation room 501 equipped with opening and closing doors are provided on both ends of the main passage 504, and one of the entrances 508 can be used to access the adjacent shipping room 502.

[0095] The other entrance 8 is configured to allow access from the outside of the cultivation facility. The transport vehicle 1 is moved from the main passage 504 to a sub-passage 509 between each of the cultivation units (cultivation beds 505), and various tasks can be performed on the plants to be cultivated while the transport vehicle 1 is traveling along the cultivation units (cultivation beds 505) on the sub-passage 509. The sub-passage 509 is a passage formed in the front-rear direction between the left and right of each of the cultivation units (cultivation beds 505). Although not shown in FIG. 14, the transport vehicle 1 is configured to be able to travel on heating pipes laid in two rows on each of the sub-passages 509 as running rails 500. The heating pipes are tubular bodies that circulate hot water inside the pipes, thereby heating the cultivation room 501.

[0096] Based on FIG. 20, the control of the transport vehicle 1 entering from the main passage 504 onto the traveling rail 500 of the sub-passage 509 will be described.

[0097] As described above, the empty storage buckets A loaded on the transport vehicle 1 enter the traveling rails 500 of the sub-passage 509 and are arranged at predetermined intervals to store the harvested tomatoes harvested by the workers, or the storage buckets A containing the harvested tomatoes are placed on a bucket stand B arranged between a pair of traveling rails 500, and the transport vehicle 1 moves along the traveling rails 500 to store the tomatoes sequentially in the storage section 31.

[0098] When the transport vehicle 1 finishes work in one sub-passage 509, it moves to the adjacent sub-passage 509, and at that time, the transport vehicle 1 that leaves the sub-passage 509 and returns to the main passage 504 can move laterally to the entrance of the adjacent sub-passage 509. In Fig. 20, a guide means (guiding magnetic tape) 91 that can specify the travel path of the transport vehicle 1 is laid in the main passage 504, and a guide detection means 92 that can detect the guide means 91 is provided on the traveling vehicle body 3, and the control device C inputs detection information of the guide detection means 92 and appropriately outputs a rotation direction command signal and a rotation speed command signal to the first multidirectional moving wheels 404L, 404R and the second multidirectional moving wheels 408L, 408R that are grounded on the main passage 504, so that the traveling vehicle body 3 can move laterally along the guide means 91. The guide means 91 is, for example, a magnetic guide tape, and the guide detection means (magnetic sensor) 92 is a magnetic sensor that reacts to the magnetic force of the magnetic tape 91 when it reaches an upper position facing the magnetic guide tape 91 and turns on the magnetic sensor 92. Therefore, by detecting the guide at a predetermined short time interval, it is possible to calculate the deviation of the traveling body 3 from the trajectory and correct the lateral movement direction of the traveling body 3. A pair of magnetic sensors 92 are provided on the left and right, and the left and right wobble of the traveling body 3 can be reduced.

[0099] At the intersection of the main passage 504 and the sub-passage 509, the magnetic tapes 93L and 93R for checking the approach direction are arranged at positions symmetrical with respect to the intersection reference point Q on the magnetic guide tape 91, that is, the intersection point between the center line Cl of the traveling body 3 ready to enter the traveling rail 500 of the sub-passage 509 and the magnetic guide tape 91. The magnetic sensors 94L and 94R are provided at different front and rear positions, such as the front left and rear right sides of the traveling body 3. When the left magnetic sensor 94L faces the magnetic tape 93L for checking the approach direction and the right magnetic sensor 94R faces the magnetic tape 93R for checking the approach direction, the control device C determines that the traveling body 3 will enter the traveling rail 500 of the sub-passage 509 at the top of the paper. Furthermore, when the running vehicle body 3 rotates 180°, the left magnetic sensor 94L faces the magnetic tape 93R for confirming the approach direction, and the right magnetic sensor 94R faces the magnetic tape 93L for confirming the approach direction, and the control device C determines that the running vehicle body 3 will enter the running rail 500 of the sub-passage 509 below the surface of the paper.

[0100] In this way, a magnetic guide tape 91 is laid on the main passage 504 as a guide means for specifying the travel route of the transport vehicle 1, and the transport vehicle 1 can move laterally along the specified travel route by detection of a magnetic sensor 92 provided on the traveling vehicle body 3.

[0101] In addition, the magnetic tapes 93L, 93R for checking the approach direction are arranged at a point-symmetrical position with respect to the crossing reference point Q of the magnetic tape 91 for guide, and the magnetic sensors 94L, 94R are provided on the left and right sides of the traveling vehicle body 3 at different front and rear positions, so that it can be determined whether to enter the traveling rail 500 of one of the sub-passages 509 arranged in a crossing shape from the main passage 504, or to enter the traveling rail 500 of the sub-passage 509 on the other side. The use of the determination result includes automatic control traveling in which the travel route is programmed in advance, as well as alarm output when the traveling vehicle body 3 moves in a direction different from the determination result. Since the magnetic tapes 93L, 93R are arranged at point symmetry, the accuracy is higher than that of a single setting, and even if the approach direction is switched by rotating 180 degrees, the magnetic sensors 94L, 94R can be used in combination and there is no waste.

[0102] The guide magnetic tape 91 and the approach direction confirmation magnetic tapes 93L, 93R are set to correspond to the N pole and S pole, respectively. This configuration can prevent erroneous detection. Also, when the traveling vehicle body 3 is moving laterally, if the magnetic sensors 94L, 94R detect both or either of the approach direction confirmation magnetic tapes 93L, 93R, the traveling vehicle body 3 is controlled to stop. Also, when moving from the traveling rail 500 of the sub-passage 509 to the main passage 504, if either of the approach direction confirmation magnetic tapes 93L, 93R is detected, the traveling vehicle body 3 may be controlled to stop.

[0103] Next, the rail entry position determination means using the rail entry position detection sensor 87 will be described with reference to Fig. 21. The rail entry position detection sensors 87 are provided on the left and right sides of the front of the traveling body 3 of the transport vehicle 1, at a height equal to the height of the traveling rail 500. The rail entry position detection sensor 87 is, for example, an optical displacement sensor, and employs a known configuration capable of measuring the distance between an object and the sensor.

[0104] 21, the traveling rails 500 arranged in two rows, the end 500t formed in a substantially U-shape to circulate hot water on the traveling rails 500, and the liquid supply pipes 510 erected to supply nutrient solution from the nutrient solution supply device 507 to each cultivation bed 505 are arranged in multiple rows, and the control device C inputs the detection values ​​of the left and right rail entry position detection sensors 87L, 87R and determines the entry position as a state in which neither of the left and right rail entry position detection sensors 87L, 87R detects the traveling rail 500. To determine the entry position, the control device C constantly grasps the detection status and changes of the left and right rail entry position detection sensors 87L, 87R in the above arrangement example and determines whether or not the entry position is normal.

[0105] Now, assume that the traveling body 3 of the transport vehicle 1 moving laterally along the main passage 504 moves laterally to the right in Fig. 22 toward the entry position of the next sub-passage 509. In Fig. 22, arrows indicate the detection status of the left rail entry position detection sensor 87L and the detection status of the right rail entry position detection sensor 87R. The right rail entry position detection sensor 87R on the leading side of the above-mentioned lateral movement detects the liquid supply pipe 510, and the left rail entry position detection sensor 87L on the trailing side detects the rail end 500t (Figure 22(a)), then as it moves further lateral, it moves away from the liquid supply pipe 510 on both sides of the cultivation bed 505 and both the left and right rail entry position detection sensors 87L, 87R detect the distant building wall or are judged to be outside the detection range due to exceeding the sensor capabilities (Figure 22(b)), then as it moves further lateral, it moves into a state where the right rail entry position detection sensor 87R detects the rail end 500t (Figure 22(c)), and then as it moves further lateral, it moves away from the detection of the rail end 500t and detects the distant wall (or is outside the detection range), and the left rail entry position detection sensor 87L also detects the distant building wall (or is outside the detection range) (Figure 22(d)). Then, in the state shown in Fig. 22(d), it is determined that the next entry position has been reached, and the traveling vehicle body 3 is controlled to stop. However, if the vehicle goes too far despite the stop control and the left rail entry position detection sensor 87L detects the rail end 500t (Fig. 22(e)), the control device C outputs a reverse command signal to the traveling motor to move the traveling vehicle body 3 laterally backward and return to the entry position. Here, the traveling speed is decelerated in Fig. 22(c) and the traveling vehicle body is stopped in Fig. 22(d), improving the accuracy of the stop position control.

[0106] As described above, by employing the rail entry position determination means using the rail entry position detection sensor 87, the configuration of the guide means 91 laid in the passage and the guide detection means 92 on the side of the traveling vehicle body 3 is unnecessary. Also, since it is sufficient to install the left and right rail entry position detection sensors 87L, 87R, it is possible to accommodate various traveling vehicle body specifications and to adapt to various work vehicles in cultivation facilities.

[0107] In Fig. 23, the rail entry position detection sensor 87 is also used as a rail running end determination means for detecting the end of travel of the traveling rail 500 when traveling on the track. That is, if the rail entry position detection sensor 87 is configured to be capable of detecting the distance between the sensor and the target as described above, it can detect the building wall W approaching while traveling on the rail, and when the wall W reaches a preset distance or less, it is determined that the end of travel has occurred and the traveling car body 3 is controlled to stop (Fig. 23(a)). Also, when one of the left and right rail entry position detection sensors 87L, 87R detects the traveling rail 500 while traveling on the track of the traveling rail 500, it is determined that the traveling car body 3 is displaced left and right relative to the traveling rail 500, and the displacement state can be eliminated by controlling the rotation of the left and right traveling wheels so as to move along the traveling rail 500 (Fig. 23(b)). [Explanation of symbols]

[0108] 3. Running vehicle 91 Magnetic guide tape 92 Magnetic Sensor 93L Magnetic tape for checking approach direction 93R Magnetic tape for checking approach direction 94L Magnetic sensor 94R Magnetic Sensor 504 Main Passage 505 Cultivation Bed 509 Sub-passage Cl center line Q Intersection Reference Point

Claims

1. A work vehicle travels on a main passage (504) in a plant cultivation facility and on two rows of running rails (500) arranged in parallel on a sub-passage (509) between a plurality of cultivation beds (505) intersecting the main passage (504), Rail entry position detection sensors (87L, 87R) for detecting the traveling rail (500) are provided on the left and right sides of the front part of the traveling body (3); The distance between the rail entry position detection sensors (87L, 87R) provided on the left and right sides is greater than the distance between the traveling rails (500) arranged in two rows side by side, When the traveling body (3) moves laterally toward the right side of the main passage (504) along the main passage (504) toward the sub-passage (509) to be entered, and the right-side rail entry position detection sensor (87R) detects the end (500t) of the traveling rail (500) formed in a substantially U-shape, the traveling body (3) continues to move laterally, and thereafter, when both the right-side rail entry position detection sensor (87R) and the left-side rail entry position detection sensor (87L) no longer detect the end (500t) of the traveling rail (500), it is determined that the traveling body (3) has reached the entry position of the next sub-passage (509), and the traveling body (3) is stopped.

2. A first multi-directional wheel (404L, 404R) is provided at the front of the traveling body (3), and the first multi-directional wheel (404L, 404R) has a plurality of free rollers arranged along the outer circumference of the axle, the free rollers having a rotation axis inclined at a predetermined angle with respect to the axle line (P1), A second multi-directional wheel (408L, 408R) is provided at the rear of the traveling body (2), and the second multi-directional wheel (408L, 408R) has a plurality of free rollers arranged along the outer periphery of the axle, the free rollers having a rotation axis inclined at a predetermined angle with respect to the axle line (P1), a multidirectional driven wheel (405L, 405R) is provided between the first multidirectional moving wheel (404L, 404R) and the second multidirectional moving wheel (408L, 408R) to support the load of the traveling body (3) and is capable of following in all directions in the traveling direction of the traveling body (3); 2. The work vehicle according to claim 1, further comprising a roller for running on a rail that is located above the lower ends of the first multidirectional wheels (404L, 404R) and the second multidirectional wheels (408L, 408R).

Images