Agricultural Robot System

Abstract

To provide an agricultural robot with a configuration suitable for movement compatible with plant shape and growth.SOLUTION: An agricultural robot system comprises: a wire robot 200 moving near plants planted in a field; multiple wires 305-308 supporting the wire robot 200 in the air; and multiple winding mechanisms arranged in the wire robot 200 and configured to wind up the respective wires 305-308. An end of the wires 305-308 on a side where the winding is not performed is movable.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an agricultural robot system. [Background technology]

[0002] It is being considered to use robots to take images of cultivated agricultural products, collect various data, and even perform pollination, harvesting, tree cutting, and other tasks. It is desirable for these robots to be able to move through the air. UAVs (drones) are considered as robots that move through the air, but they are not suitable due to the interference with branches and leaves, the impact of wind pressure on plants, and the power consumption when stationary in the air.

[0003] 2. Description of the Related Art Robots that move through the air and are driven by wires are known (see, for example, Non-Patent Document 1 and Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Non-Patent Document 1] Japan Society of Civil Engineers, Proceedings of the Society of Civil Engineers, F4 (Construction Management), Vol. 73, No. 1, 26-37, 2017 [Patent Document 1] Patent No. 6277535 Summary of the Invention [Problem to be solved by the invention]

[0005] In the case of a robot that targets plants, it is important to set the movement range according to the growth direction and the state of the community. Conventional technologies have not given sufficient consideration to this point. In this context, the present invention aims to provide a robot that is configured to move in accordance with the shape and growth of plants. [Means for solving the problem]

[0006] The present invention relates to a farming system including a robot that moves close to plants planted in a field, a plurality of wires that support the robot in the air, and a plurality of winding mechanisms that are disposed on the robot and wind up each of the plurality of wires, A guide wire is provided that is stretched along the shape or growth direction of the plant, and the robot engages with the guide wire, and the movement of the robot is limited to that along the guide wire. It is an agricultural robot system.

[0007] In the present invention, A preferable aspect is one in which the robot is capable of releasing its engagement with the guide wire.

[0008] The present invention is an agricultural robot system comprising a robot that moves close to plants planted in a field, a plurality of wires that support the robot in the air, a plurality of winding mechanisms that are disposed on the robot and wind up each of the plurality of wires, a lower wire that pulls the robot downward, and the other end of the lower wire that is fixed to the ground or movably held on the ground. In the present invention, it is preferable that the end of the plurality of wires that is not wound up is fixed to a support pole, and the installation position of the support pole is changeable. In the present invention, it is preferable that the ends of the multiple wires on the side where the winding is not performed are held in either a first state in which they can be attached and detached to an aerial wire stretched above the field, or a second state in which they can be fixed and slid.

[0009] In the present invention, it is preferable that the ends of the multiple wires on the side where the winding is not performed are held by a holding part that can slide on an aerial wire stretched above the field, and that the holding part can be moved on the aerial wire by power.

[0010] In the present invention, the robot is provided with a plurality of winding mechanisms and a drive mechanism that drives each of the plurality of winding mechanisms, the winding mechanisms and the drive mechanism are separable, and the winding mechanisms include a first winding mechanism that winds a first group of wires and a second winding mechanism that winds a second group of wires, and a first wire robot is formed by combining the drive mechanism and the first winding mechanism, and a second wire robot is formed by combining the drive mechanism and the second winding mechanism.

[0011] In the present invention, a preferable embodiment has a structure that allows connection and disconnection of at least one of the plurality of wires that support the robot in the air. Effect of the Invention

[0012] According to the present invention, a robot having a configuration suitable for movement in accordance with the shape and growth of a plant can be obtained. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is a schematic diagram of an embodiment. [Diagram 2] FIG. 1 is a schematic diagram of an embodiment. [Diagram 3] 1A is a perspective view of a wire robot according to an embodiment, and FIG. 1C is a side view of the wire robot according to the embodiment. [Figure 4] FIG. 1 is a block diagram of a wire robot according to an embodiment. [Diagram 5] 1A to 1C are side views showing a structure for fixing a support pole to the ground. [Figure 6] 1A is a side view and FIG. 1B is a top view showing the holding structure of a movable support pole. [Figure 7] 1A and 1B are side views showing a structure for holding a wire robot. [Figure 8] 1A to 1C are side views showing a structure for holding a wire robot. [Figure 9] 1A and 1B are side views showing a structure for holding a wire robot, and FIG. 1C is a cross-sectional view of the holding portion. [Figure 10] 1A and 1B are side views showing a structure for holding a wire robot. [Figure 11] FIG. 1 is a schematic diagram of an embodiment. [Figure 12] FIG. 1 is a schematic diagram of an embodiment. [Figure 13] FIG. 1 is a schematic diagram of an embodiment. [Figure 14] FIG. 1 is a schematic diagram of an embodiment. [Figure 15] 1A is a perspective view, FIG. 1B is a side view, and FIG. 1C is an exploded side view of a wire rod according to an embodiment. [Figure 16] FIG. 1 is a schematic diagram of an embodiment. [Figure 17] FIG. 1 is a conceptual diagram of a member for connecting and disconnecting wires. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Fig. 1 shows a farm field 100. The farm field 100 may be a farm field in an agricultural greenhouse or an outdoor farm field. Fig. 1 shows three rows of tree crowns extending in the Y-axis direction. Fig. 1 shows a wire robot 200 capable of moving in the space between the rows of tree crowns 101 and 102.

[0015] The wire robot 200 moves through the air in close proximity to plants (agricultural products) grown in a farm field. The wire robot 200 is held by being pulled from multiple directions by wires. In the example of FIG. 1, the wire robot 200 is held (supported) by being pulled from all four sides by four wires 305-308 attached to four supports 301-304. The wire robot 200 is equipped with a reel mechanism that individually winds and unwinds the wires 305-308. The position of the wire robot 200 in three-dimensional space is adjusted by adjusting the lengths of the four wires 305-308.

[0016] For example, when all of wires 305 to 308 are wound up, wire robot 200 moves up. For example, when wires 305 and 308 are unwound and wires 306 and 307 are wound up, wire robot 200 moves in the positive direction of the Y axis. Furthermore, when wires 305 and 306 are unwound and wires 307 and 308 are wound up, wire robot 200 moves in the positive direction of the X axis.

[0017] The ends of the wires 305-308 are supported by the support poles 301-304. The wires 305-308 are preferably supported on the support poles 301-304 via wire tensioners (turnbuckles). By providing the wire tensioners, a constant tension can be applied to the wires, eliminating sagging. Also, when initially setting up the wire robot 200, it becomes easier to set up the wires so that they have some "play" that allows them to stretch a little. Also, if a means for measuring the stretch of the wire tensioner itself (such as a sensor for measuring stretch) is provided, the stretch can be used to calculate the three-dimensional position of the wire robot, which will be described later.

[0018] The installation locations of the support poles 301 to 304 can be changed by a mechanism described later. Fig. 2 shows an example in which the installation locations of the support poles 301 to 304 have been changed. By changing the positions of the support poles, the movement range of the wire robot 200 can be changed.

[0019] By changing the movement range of the wire robot 200, it is possible to cause the wire robot 200 to move in accordance with the shape and growth direction of a plant. Here, a configuration in which the wire robot 200 is supported by four wires is shown, but a configuration in which the wire robot 200 is supported by three wires or five or more wires is also possible.

[0020] FIG. 3 shows a wire robot 200. The wire robot 200 has a flat plate-shaped main body 201. Wire driving units 210, 220, 230, and 240 are arranged on the main body 201. The wire driving unit 210 winds and unwinds a wire 305. The wire driving unit 220 winds and unwinds a wire 306. The wire driving unit 230 winds and unwinds a wire 307. The wire driving unit 240 winds and unwinds a wire 308. In addition, ring-shaped guide units 211 to 241 are arranged on the four corners of the main body 201. Line tensioners can also be used as the guide units 211 to 241.

[0021] The four wire driving units 210 to 240 have the same structure. Below, we will explain the wire driving unit 210. The wire driving unit 210 has a cylindrical reel 212 that winds up the wire 305, a flange 214 that straightens the wire 305 wound around the reel 212, and a winding member 213 that efficiently winds the wire 305 around the reel 212.

[0022] The reel 212, the flange 214, and the winding member 213 are integral with each other and are rotated by the drive motor 261. Fig. 3(B) shows the state where the wire 305 starts to be wound around the reel 212, and Fig. 3(C) shows the state where the reel 212 is rotating and the wire 305 is being wound around the reel 212.

[0023] The wire 305 is pulled by a winding member 213 via a ring-shaped guide 211, and is wound around a reel 212. The winding member 213 is provided with a hole 215 into which an end of the wire 305 is inserted, and the end of the wire 305 is fixed to the upper surface of the winding member 213.

[0024] The structure of the wire driving unit 210 described above is the same for the other wire driving units 220, 230, and 240. The type of wires 305 to 308 is not particularly limited, but for example, flexible and strong synthetic fiber wires are used. It is desirable to determine the elastic modulus (Young's modulus) of the wire. Since the elongation rate can be determined from the elastic modulus, when calculating the position of the wire robot 200 from the length of the wire pulled out from the motor, the wire elongation can be corrected to determine an accurate position.

[0025] The wire robot 200 is equipped with a guide 202 for restraining the wire robot 200 to a guide wire stretched in the vertical direction, which will be described later. The guide 202 is annular, and the wire robot 200 is restrained to the guide wire by passing the guide wire through the ring. The guide 202 has a structure similar to a spring clasp or lobster clasp, and the ring can be closed and opened, allowing the selection of engagement (restraint) / non-engagement (non-restraint) with the guide wire.

[0026] The wire robot includes a control unit 250, a camera 260, and various sensors 270. As shown in Fig. 4, the control unit 250 includes an operation control unit (controller) 300 and a measurement control unit 400. The control unit 250 is configured using a computer. The computer used may be any of various built-in computers, commercially available PCs (personal computers), or computers configured with dedicated hardware. There are no limitations on the computer used as long as it can realize the functions described below.

[0027] The operation control section (controller) 300 has an operation signal receiving section 301, a drive control signal generating section 302, a motor driving section 303, a position calculating section 304, and a communication device 305. These functional sections are realized by a computer to be used and dedicated electronic circuits.

[0028] For example, the operation signal receiving unit 301, the drive control signal generating unit 302, and the position calculating unit 304 are realized by the CPU of the computer to be used executing an operating program. This is also true for the camera control unit 401, the sensor data receiving unit 402, the image data receiving unit 403, and the data storage unit 404, which will be described later. Of course, at least some of these functional units can be realized by dedicated hardware.

[0029] Motor drive unit 303 has a motor drive circuit that generates electric signals to drive drive motors 261, 262, 263, and 264. Drive motor 261 generates a drive force for winding and unwinding wire 305 in wire drive unit 210, drive motor 262 generates a drive force for winding and unwinding wire 306 in wire drive unit 220, motor 263 generates a drive force for winding and unwinding wire 307 in wire drive unit 230, and motor 264 generates a drive force for winding and unwinding wire 308 in wire drive unit 240.

[0030] The communication device 305 is configured by utilizing the communication function of the computer. The communication device 305 communicates with the controller and external devices. The communication is performed using, for example, a wireless LAN standard. Of course, wired communication is also possible.

[0031] The operation signal receiving unit 301 receives an operation signal from an operation controller (not shown) that operates the wire robot 200. The movement of the wire robot 200 is controlled by a user (operator) operating this operation controller (not shown). The contents of the operation include operations related to the movement of the wire robot 200, and operations related to the camera 260 and various measurement sensors 270 described later. It is also possible to move the wire robot 200 according to a preset procedure.

[0032] The drive control signal generating unit 302 generates a control signal for controlling the operation of the drive motors 261 to 264. A motor drive signal is generated in the motor driving unit 303 based on this control signal.

[0033] The position calculation unit 304 calculates the three-dimensional position of the wire robot 200 based on the winding amounts of the wires 305, 306, 307, and 308. The drive motors 261 to 264 are motors capable of measuring the rotation angle and number of rotations, and their rotation amounts are known. From this rotation amount, the winding amount of each wire in the wire drive unit is known, and the three-dimensional position of the wire robot 200 is calculated based on this. Examples of motors that can be used include a current-driven servo motor equipped with a rotation angle meter that can measure the rotation angle and number of rotations, and a stepping motor.

[0034] The wire robot 200 includes a posture detection sensor 203 that detects the posture of the wire robot 200. For example, if the wire robot 200 is unintentionally tilted, this is detected by the posture detection sensor 203, and the length of each wire is adjusted so that the wire robot 200 becomes horizontal.

[0035] The measurement control unit 400 includes a camera control unit 401, a sensor data receiving unit 402, an image data receiving unit 403, a data storage unit 404, and a communication device 405. The camera control unit 401 controls the operation of the camera 260. The sensor data receiving unit 402 receives measurement data detected by the various sensors 270. The data storage unit 404 stores data of images captured by the camera 260 and measurement data measured by the various sensors 270.

[0036] The communication device 405 transmits image data and measurement data to the outside. Communication is performed wirelessly or via wire. In addition, signals related to the operation control of the camera 260 and the operation control of the various sensors 270 are received from the outside via the communication device 405.

[0037] As shown in Fig. 3, the wire robot 200 includes a camera 260 and various sensors 270. The camera 260 captures still images or videos (or both). The captured images are not limited to the visible light band, and may be in the infrared or ultraviolet range. It is also possible to capture images that can be resolved into a specific wavelength or multiple wavelengths, such as with a spectral camera.

[0038] The camera 260 can rotate horizontally and adjust its orientation in the up-down direction. This adjustment can be performed by remote control. Fig. 3(B) shows a state in which the optical axis of the camera 260 is oriented in the positive direction of the X-axis, and Fig. 3(C) shows a state in which the optical axis of the camera 260 is oriented in the negative direction of the Y-axis.

[0039] The various sensors 270 measure temperature, humidity, illuminance, oxygen concentration, carbon dioxide concentration, etc. The type of sensor is selected based on the type required for monitoring the growth of the plant.

[0040] Although not shown, the wire robot 200 is equipped with a battery and a power supply circuit as a power source. A configuration in which power is supplied via a wire is also possible.

[0041] Fig. 5 is a diagram showing a structure for fixing support poles 301-304 to the ground. In the example of Fig. 5(A), a base pole 501 is embedded and fixed in the ground 500. The support pole 301 is tied to the base pole 501, and the support pole 301 is fixed to the base pole 501 using bundling members 502 and 503. For example, clamp members for iron pipes used for scaffolding in construction work can be used as the bundling members 502 and 503.

[0042] Fig. 5(B) shows a form in which the support pole 301 is placed over and fixed to the base pole 501 fixed to the ground 500. Fig. 5(C) shows a state in which a hole 504 for inserting the support pole 301 is provided in the ground 500, and the support pole 301 is inserted and fixed in place.

[0043] 5 shows a case where the support pole 301 is fixed to the ground 500, but the other support poles 302 to 304 are fixed to the ground with a similar structure. By providing the fixing mechanisms for the support poles in Fig. 5 in advance at multiple locations in the field, it is possible to easily change the movement range of the wire robot 200 as shown in Figs. 1 and 2.

[0044] It is also possible to fix the support poles 301-304 to a movable base and move the base to install the support poles 301-304 wherever they are needed. Fig. 6 shows an embodiment in which the support pole 301 is fixed to a movable base 510. The movable base 510 can be moved by four tires 511. The support pole 301 is fixed to the movable base 510.

[0045] In this example, a support auxiliary device 512 is placed at a candidate location for fixing the support pole. The support auxiliary device 512 is equipped with an arm 513. An openable C-shaped hand 514 is attached to the tip of the arc 513, and the hand 514 grasps and holds the support pole 301. This allows the movable base 510 and the support pole 301 to be fixed in a stable state.

[0046] Rails may be used as a means for moving the movable base 510. The movable base 510 may be moved by human power or by a driving means such as a motor.

[0047] In a configuration using a movable base 510, it is also possible to reinforce the support pole 301 with deployable auxiliary support legs or stay wires, thereby ensuring the self-supporting strength of the support pole 301 at the installation site.

[0048] A structure in which the length of the support pole can be changed is also possible. Fig. 7 shows a case in which length-adjustable support poles 521, 522 are used and wire robot 200 is held by wires 523, 524. Fig. 7(A) shows the support pole in a retracted state, and Fig. 7(B) shows the support pole in an extended state.

[0049] In this case, the wire robot 200 can be raised and lowered by varying the length of the support pole without changing the length of the wire. Although only two wires holding the wire robot 200 are shown in Fig. 7, the wire robot 200 is actually supported by three or more wires. This is also the case in Figs. 8 to 10 described below.

[0050] It is also possible to use a wire that pulls the wire robot 200 downward. Fig. 8(A) shows a wire 530 that pulls the wire robot 200 downward. The wire 530 is wound and unwound on the side of the wire robot 200 by a mechanism similar to that of the wire 305.

[0051] The other end of the wire 530 on the ground side is fixed to a downward traction member 531. For example, a simple weight is used as the downward traction member 531. In this case, the downward traction member 531 is fixed to the ground by its own weight. FIG. 8(B) shows a case in which the wire robot 200 moves horizontally from the state shown in FIG. 8(A). In this case, the downward traction member 531 does not move due to its own weight, and the wire robot 200 is held in the state shown in FIG. 8(B).

[0052] The lower traction member 531 may be movable using wheels, rails, or the like. This is shown in Fig. 8(C). In this case, by moving the lower traction member 531, the wire robot 200 can be pulled and held from below in the vertical direction even when it is moved in the horizontal direction.

[0053] It is also possible to adopt a configuration in which the wire 530 is detachably attached to the lower traction member 531, or a configuration in which the wire 530 is detachably attached to the wire robot 200. It is also possible to adopt a configuration in which the lower traction member 531 is dragged and moved in accordance with the movement of the wire robot 200.

[0054] 8, the wire robot 200 can be more stably moved in the vertical direction and its position can be more stably secured. A configuration in which the wire 530 is wound on the side of the lower pulling member 531 is also possible.

[0055] The configuration in FIG. 8 is useful when moving the wire robot 200 in accordance with the shape and growth direction of a plant.

[0056] When the path along the shape or growth direction of the plant is oblique to the vertical, it requires complex control to finely adjust the lengths of the wires 305-308 and move the wire robot 200 along that path. When the form of Fig. 8 is adopted, the extension direction of the guide wire 530 is set to be in line with the shape or growth direction of the plant, so that the wire robot 200 is restricted to movement in that direction, making it easier to control the movement of the wire robot 200.

[0057] It is also possible to hang a guide wire from a wire stretched above (in the air) the farm field, and to restrain the wire robot 200 there. An example of this is shown in Figure 9. In this case, the movement of the wire robot 200 is restrained in the extension direction of the guide wire.

[0058] In this case, a guide wire 542 is hung from a horizontal wire 541 stretched above (in the sky) the farm field, and the wire robot 200 is restrained there. Specifically, the guide wire 542 is passed through the guide 202 in FIG. 3, and the state shown in FIG. 9 is obtained.

[0059] For example, the guide wire 542 is installed along the growth direction (extension direction) of the plant. In this case, the wire robot 200 is constrained so as to move along the growth direction of the plant. This state is shown in Figures 9(A) and 9(B).

[0060] 9(C) shows clip 543, which is an example of fixing means for engaging guide wire 542 with horizontal wire 541. Clip 543 has a structure similar to that of a clerical clip used for bundling papers, and is fixed to horizontal wire 541 by clamping horizontal wire 541 with the repulsive force of a spring. Clip 543 is detachable, and the fixed position with respect to horizontal wire 541 can be changed as appropriate.

[0061] Fig. 10 shows a case where the guide wire 542 is stretched diagonally. For example, a guide wire may be stretched diagonally to make a plant grow diagonally. By adopting the configuration of Fig. 10, the wire robot 200 can be moved while being restrained in a diagonal upward and downward direction from the ground.

[0062] For example, a guide wire 542 is stretched along the attracting line, and the wire robot 200 is restrained thereto. This enables the wire robot 200 to move along the growth direction or extension direction (the direction in which the stem, trunk, or vine extends) of the plant.

[0063] For example, in the case of tomatoes, the stem grows along the attraction line, and fruits grow one by one from the bottom. In this case, the lowest part is the fruit close to harvest time, and the top part is the sprout part where the fruit will grow from now on. For example, in accordance with the growth stage, tasks such as image observation, three-dimensional photo measurement, thermal image analysis, measurement of moisture content, and measurement of temperature distribution and humidity distribution are required. In this case, the above measurements can be performed smoothly by moving the wire robot 200 along the growth direction.

[0064] The movement of the wire robot 200 along the growth direction of the plant can also be achieved by adjusting the lengths of the wires 305, 306, 307, and 308 in Fig. 1. However, the method using the guide wire 542 in Fig. 9 and Fig. 10 is simple to control and allows reliable position control.

[0065] It is also possible to adopt a configuration in which engagement with the guide wire 542 is performed by robot control. For example, a robot hand equipped with a C-shaped gripping portion is disposed on the wire robot 200, and the robot hand grasps the guide wire 542, thereby enabling the wire robot 200 to move along the guide wire 542.

[0066] In FIG. 1, rather than changing the positions of the support poles 301 to 304, it would be convenient if the positions of the support ends (the ends fixed to the support poles) of the wires 305 to 308 could be changed in some way.

[0067] An example of this is shown in Figure 11. In the case of Figure 11, horizontal wires 551 and 552 are stretched horizontally above the farm field. Here, wires 305 and 308 are engaged with horizontal wire 551 in a state in which it is possible to select whether to fix or not fix them, and wires 306 and 307 are engaged with horizontal wire 552 in a state in which it is possible to select whether to fix or not fix them.

[0068] In this example, wire 305 is fixed to horizontal wire 551 by clip 553, and wire 308 is fixed by clip 556. Wire 306 is fixed to horizontal wire 552 by clip 554, and wire 307 is fixed by clip 555.

[0069] Clips 553-556 are engagement means that can select fixed / unfixed. Clips 553-556 have a structure similar to clip 543 in Fig. 9(C). Clips 553-556 are detachable like clerical clips, and the fixed positions relative to horizontal wires 551, 552 can be moved as appropriate. By changing the fixed positions of clips 553-556 relative to horizontal wires 551, 552, the movement range of wire robot 200 can be changed.

[0070] Figure 12 shows a modified example of Figure 11. In the case of Figure 12, the tip of wire 305 is supported on horizontal wire 551 by slide support part 561, the tip of wire 306 is supported on horizontal wire 552 by slide support part 562, the tip of wire 307 is supported on horizontal wire 552 by slide support part 563, and the tip of wire 308 is supported on horizontal wire 551 by slide support part 564.

[0071] The slide support portions 561 and 564 are held by the horizontal wire 551 in a slidable state, and the slide support portions 562 and 563 are held by the horizontal wire 552 in a slidable state.

[0072] The sliding support parts 561 to 564 are, for example, metal pipes. In this case, the horizontal wire 551 or the horizontal wire 552 passes through the metal pipe, and each support part is slidable relative to the horizontal wire.

[0073] Slide support parts 561 and 564 are connected by a restraining wire 571, and slide support parts 562 and 563 are connected by a restraining wire 572. Slide support part 561 is pulled in the negative direction of the X-axis by a pulling wire 573, slide support part 562 is pulled in the negative direction of the X-axis by a pulling wire 574, slide support part 563 is pulled in the positive direction of the X-axis by a pulling wire 575, and slide support part 564 is pulled in the positive direction of the X-axis by a pulling wire 576.

[0074] The other ends of the pulling wires 573 to 576 can be wound up and unwound by wire driving units 581 to 584. Details of the winding and unwinding mechanisms are the same as those of the main body of the wire robot 200.

[0075] By adjusting the pulling strength of the pulling wires 573-576, the slide support parts 561-564 move together in the X-axis direction. This allows the movement range of the wire robot 200 in the X-axis direction to be changed. For example, the state of Fig. 12 can be shifted to the state of Fig. 13. Figs. 12 and 13 show a case where the movable space of the wire robot 200 is changed from lane 1, which is the space between the rows of treetops, to lane 2.

[0076] Fig. 14 shows an example in which a wire robot can be separated into a driving and measuring unit and a wire winding unit. Fig. 14 shows a wire robot 610. The wire robot 610 can be separated into a driving and measuring unit 611 and a wire winding unit 612. In this example, the driving and measuring unit 611 is shared by the wire robot whose movement range is lane 1 and the wire robot whose movement range is lane 2.

[0077] The wire robot 610 shown in Fig. 14 will be described below. Fig. 15 shows a perspective view (A), a side view (B), and an exploded side view (C) of the wire robot 610. The wire robot 610 has a driving and measuring unit 611 and a wire winding unit 612.

[0078] The driving and measuring unit 611 includes a driving motor that exerts a driving force for winding and unwinding the wire, a driving device and a control device for the driving motor, and devices required for various measurements of the plant (camera and various sensors). The configuration other than the separation mechanism described below is the same as in Fig. 3. Also, the configuration of the control unit 250 is the same as in Fig. 4, but the control unit 250 is disposed in the driving and measuring unit 611.

[0079] 15, a motor 261 rotates a reel 212 and a winding member 213 of a wire driving unit 210. Wire driving units 220, 230, and 240 also have this structure.

[0080] The structure of wire driving units 210, 220, 230, 240 is the same as the structure of the wire driving unit described in Fig. 3. Below, differences in the structure of wire driving units 210-240 from the wire driving unit in Fig. 3 will be described. Since the structure of each wire driving unit is the same, wire driving unit 210 will be described here as a representative example.

[0081] 15, a cylindrical reel 212 has a cylindrical hollow portion 212a inside, the hollow portion 212a being coaxial with the reel 212. A shaft 261a, which is a rotating shaft of a drive motor 261, is inserted into the hollow portion 212a in a state in which it can be inserted and removed in the axial direction (Z-axis direction) and the rotational force can be transmitted to the reel 212.

[0082] Specifically, a groove extending in the axial direction is formed on the inner peripheral surface of hollow portion 212a, and a protrusion or ridge that fits into the groove is formed on the outer periphery of shaft 261a. The groove and the protrusion or ridge mesh in the axial direction, thereby transmitting the rotational driving force from shaft 261a to reel 212.

[0083] Furthermore, the grooves provided on the inner circumferential surface of the hollow portion 212a and the protrusions or ridges on the outer periphery of the shaft 261a are capable of relative movement in the axial direction, so that the shaft 261a can be inserted into and removed from the hollow portion 212a.

[0084] These are the same for the wire driving units 220, 230, and 240. Therefore, as shown in Fig. 15(C), the driving and measuring unit 611 and the wire winding unit 612 can be connected and separated in the Z-axis direction. For example, by pulling the wire winding unit 612 upward with the driving and measuring unit 611 fixed, the two can be separated vertically. Conversely, when the two are separated, the wire winding unit 612 can be pressed against the driving and measuring unit 611 from above to connect the two.

[0085] By utilizing the coupling and decoupling of the driving and measuring unit 611 and the wire winding unit 612, it is possible to transition from the state in FIG. 14 to the state in FIG. 16, or from the state in FIG.

[0086] 14 and 16 show a docking table 630. A movable table 631 that is movable in the X-axis direction is disposed on the docking table 630. A hook (not shown) for fixing the driving and measuring unit 611 is disposed on the movable table 631. The movable table 631 is also provided with an opening 631a for avoiding interference with the camera 260. For the same purpose, the docking table 630 is also provided with an opening 630a.

[0087] 14 shows a state in which the wire robot 610 is operating in lane 1. In this state, a wire winding unit 613 for lane 2, separate from the wire winding unit 612, is provided in the lane 2 portion of the docking table 630.

[0088] The wire robot is operated in lane 2 as follows. First, the wire robot 610 is moved onto the movable stage 631, and the driving and measuring unit 611 is fixed onto the movable stage 631. Next, the wires 601 to 604 are lifted up by being wound up on the wire robot 610 side, and the wire winding unit 612 is separated upward from the driving and measuring unit 611. Then, the movable stage 631 with the driving and measuring unit 611 placed on it is moved from lane 1 to lane 2.

[0089] At this time, the wire winding unit 613 waiting at the lane 2 position of the docking table 630 is lifted by wires 605-608, and the driving and measuring unit 611 placed on the moving table 631 is moved underneath it. Then, the wire winding unit 613 is lowered onto the driving and measuring unit 611, and the two are connected in the vertical direction. As a result, a new wire robot 620 (FIG. 16) is obtained in lane 2. Here, the driving and measuring unit 611 is common to the wire robots 610 and 630, and the wire winding units are different as shown by the parts denoted by reference numerals 612 and 613.

[0090] The movement of wire robot 630 is controlled by wires 605 to 608, and it moves in the area of ​​lane 2. It is also possible to have three or more lanes and further prepare a third and subsequent wire winding section.

[0091] A configuration in which the wires (for example, at least a part of the wires 305 to 308) supporting the wire robot 200 can be connected and separated is also possible. Fig. 17 shows a hook with a latch 650 which is a member for connecting and separating wires. The hook with latch 650 includes a J-shaped hook 651, a latch 653 which can rotate around an axis 654, and a wire fixing part 652 to which the wire is fixed.

[0092] Rotating the latch 653 releases the inner portion of the hook 651, allowing another hook having a similar structure to be hooked thereon, thereby connecting the wires together.

[0093] In this state, by closing the latch 653, the other hook is maintained in a hooked state and cannot be released. Then, by moving the latch 653 and opening the inner part of the hook 651, the other hook can be released from the hook 651. In this manner, the wires are connected and disconnected using the hook with latch 650. This connection and disconnection can be performed manually or automatically.

[0094] (others) It is also possible to combine two or more of the configurations described above, for example, a combination of the configurations in Figures 7 and 8, or a combination of the configurations in Figures 9 and 13, etc. [Explanation of symbols]

[0095] 101...row of tree crowns, 102...row of tree crowns, 103...row of tree crowns, 200...wire robot, 201...main body of wire robot, 202...guide, 210...wire drive unit, 212...reel, 212a...hollow portion, 213...winding member, 214...blade, 215...hole through which wire passes, 220...wire drive unit, 211...guide, 221...guide, 230...wire drive unit, 231...guide, 240...wire drive moving part, 241...guide, 250...control part, 260...camera, 261...driving motor, 261a...shaft, 264...driving motor, 270...various sensors, 301...support pole, 302...support pole, 303...support pole, 304...support pole, 305-308...wire, 500...ground, 501...foundation pole, 502...binding member, 503...binding member, 504...hole, 510...mobile base, 511...tire, 51 2...Support auxiliary device, 513...Arm, 514...Hand, 521...Extendable support pole, 522...Extendable support pole, 523, 524...Wire, 530...Wire, 531...Downward traction member, 541...Horizontal wire, 542...Guide wire, 543...Clip, 551, 552...Horizontal wire, 553-556...Clip, 561-564...Slide support part, 571...Restraint wire, 572...Restraint wire Ear, 573-576...pulling wire, 581-584...wire drive unit, 601-608...wire, 610...wire robot, 611...drive and measurement unit...612...wire winding unit, 613...wire winding unit, 630...docking table, 630a...opening, 631...moving table, 631a...opening, 650...hook with latch, 651...J-shaped hook, 652...wire fixing unit, 653...latch, 654...axis.

Claims

1. A robot that moves close to plants planted in a field; A plurality of wires that support the robot in the air; a plurality of winding mechanisms disposed on the robot, each winding up one of the plurality of wires; having A guide wire is provided which is stretched along the shape or growth direction of the plant, the robot engages the guidewire; An agricultural robot system, wherein movement of the robot is restricted to along the guide wire.

2. The agricultural robot system according to claim 1 , wherein the robot is capable of releasing engagement with the guide wire.

3. A robot that moves close to plants planted in a field; A plurality of wires that support the robot in the air; a plurality of winding mechanisms disposed on the robot, each winding up one of the plurality of wires; having a lower wire for pulling the robot downward; The other end of the lower wire is fixed to the ground or movably held on the ground in the agricultural robot system.

4. The ends of the wires that are not wound are fixed to a support pole; The agricultural robot system according to any one of claims 1 to 3, wherein the installation position of the support pole is changeable.

5. An agricultural robot system as described in any one of claims 1 to 4, wherein the ends of the multiple wires that are not wound are held in one of a first state in which they can be attached and detached to an aerial wire stretched above the field, or a second state in which they can be fixed and slid.

6. The ends of the wires on the side where the winding is not performed are held by a holding part that can slide on an overhead wire stretched above the field, The agricultural robot system according to any one of claims 1 to 5, wherein the holding part is capable of moving on the aerial wire by power.

7. the robot includes a plurality of winding mechanisms and a drive mechanism that drives each of the plurality of winding mechanisms; the winding mechanism and the drive mechanism are separable, As the winding mechanism, a first winding mechanism for winding a first wire group and a second winding mechanism for winding a second wire group are provided, a first wire robot is configured by coupling the drive mechanism and the first winding mechanism; The agricultural robot system according to any one of claims 1 to 6, wherein a second wire robot is formed by coupling the drive mechanism and the second winding mechanism.

8. The agricultural robot system according to any one of claims 1 to 7, further comprising a structure that enables connection and disconnection of at least one of the plurality of wires that support the robot in the air.

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