Rail system

Abstract

This rail system comprises: a pair of fixed rails positioned between a plurality of solar cell panels installed in a farm field and on a ground surface; a moving beam having both end parts self-traveling along the pair of fixed rails; and a slider self-traveling along the moving beam.

Description

Rail System

[0001] This application claims priority to Japanese Patent Application No. 2023-220824, filed December 27, 2023, and incorporates by reference all of the contents of said Japanese application.

[0002] Patent Document 1 describes a system in which a robot for harvesting crops is suspended from a wire placed above the crops and moves along the wire.

[0003] JP 2023-22425 A

[0004] A rail system according to one aspect of the present disclosure comprises a pair of fixed rails positioned between a plurality of solar cell panels installed in a field and the ground, a moving beam whose both ends move freely along the pair of fixed rails, and a slider that moves freely along the moving beam.

[0005] FIG. 1 is a schematic diagram showing an example of the overall appearance of a rail system according to embodiment 1. FIG. 2 is a perspective view of the rail system with the solar cell panel removed. FIG. 3 is an enlarged schematic view of the cross section of FIG. 1. FIG. 4 is an enlarged view of the fixed rail, walking beam, and bridge rail of FIG. 1. FIG. 5 is a block diagram showing an example of the hardware configuration of a control device. FIG. 6 is a schematic diagram showing the movement process of the walking beam on the bridge rail. FIG. 7 is a perspective view showing an overview of a modified example of a rail system according to the present disclosure. FIG. 8 is an enlarged schematic view of the cross section of FIG. 7.

[0006] <Problem to be Solved by the Present Disclosure> This system allows the robot to move along the wire, allowing it to move in the longitudinal direction of the wire. However, the direction crossing the wire is limited by the range of motion of the robot's arms. This means that there is a risk that the robot will not be able to reach the fruit.

[0007] In view of the above-described conventional problems, the present disclosure aims to provide a system that can move a robot or the like in a direction that intersects with a guide member such as a wire.

[0008] Effect of the Present Disclosure According to the present disclosure, a robot or the like provided on a slider can be moved in a direction intersecting a guide member such as a fixed rail.

[0009] <Outline of Embodiments of the Present Disclosure> Below, an outline of embodiments of the present disclosure will be listed and described.

[0010] (1) A rail system according to one aspect of this embodiment includes a pair of fixed rails positioned between a plurality of solar cell panels installed in a field and the ground, a moving beam whose both ends are self-propelled along the pair of fixed rails, and a slider that is self-propelled along the moving beam.

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

[0012] (2) In the above (1), the slider may include a slider body on which the agricultural work implement is mounted, and a slider moving device that moves the slider body.

[0013] This allows the agricultural implement attached to the slider to be moved in a direction that intersects with the fixed rail.

[0014] (3) In the above (1) or (2), the rail system of this embodiment may further include a bridge rail connecting the ends of the pair of fixed rails, and the moving beam can move along the bridge rail when both ends are located at the ends of the pair of fixed rails.

[0015] This allows the walking beam to move to the adjacent fixed rail connected by the bridge rail, allowing the slider to move across a wider range of fixed rails.

[0016] (4) In any one of (1) to (3) above, the moving beam may be provided with a pair of beam moving devices at both ends for self-propelled movement on the pair of fixed rails, and a control device for controlling the pair of beam moving devices, each of the pair of beam moving devices including a first wheel that runs on the fixed rails, a second wheel that is arranged coaxially with the first wheel and runs on the fixed rails, a first motor that drives the first wheel, and a second motor that drives the second wheel, and the control device independently controls the first motor and the second motor of each of the beam moving devices.

[0017] This allows the walking beam to self-propel along the fixed rails.

[0018] (5) In any one of (1) to (4) above, the rail system of this embodiment may further include a power supply device that supplies power generated by the plurality of solar cell panels to the moving beam and the slider.

[0019] This allows the rail system to operate without an external power supply.

[0020] (6) In any one of the above (1) to (5), the pair of fixing rails may be part of a frame that supports the plurality of solar cell panels above the field.

[0021] This reduces the height of the rail system and improves the strength of the rail system.

[0022] [Definition of Terms] The definitions of terms used in this application are as follows: ・Field: A place for cultivating agricultural crops, including rice paddies, fields, and orchards. ・Solar panel: A panel-shaped device for generating electricity using sunlight. ・Rail: A long, thin steel material laid to support the wheels of a moving object and allow it to run smoothly in a certain direction. ・Beam: A long, thin, columnar member that is placed horizontally and supports some kind of object. ・Slider: A member that moves a connected object in a sliding manner. ・Reflective photosensor: A sensor in which a light-emitting element and a light-receiving element are arranged in the same direction. Light from the light-emitting element is shone on the object to be detected, and the reflected light is detected by the light-receiving element. ・3-axis magnetic sensor: A sensor that can measure magnetic flux density (geomagnetic field) in three directions simultaneously.

[0023] [Details of the embodiments of the present disclosure] Hereinafter, details of the embodiments of the present disclosure will be described with reference to the drawings. Note that at least some of the embodiments described below may be combined in any manner.

[0024] [1-1 Overall Configuration of Rail System] FIG. 1 is an overview diagram showing an example of the overall appearance of the rail system according to this embodiment. In FIG. 1, a portion of the solar cell panel is cut away along the broken line A-A, showing the configuration below the solar cell panel. FIG. 2 is a perspective view of the rail system with the solar cell panel removed. FIG. 3 is an overview diagram enlarging the cross section of FIG. 1. Here, the X direction in FIG. 1 is a direction perpendicular to the longitudinal direction of the fixed rail 4 and parallel to the ground surface of the field 2. The Y direction in FIG. 1 is the longitudinal direction of the fixed rail 4. The Z direction in FIG. 1 is a direction perpendicular to the ground surface of the field 2. The same applies to FIGS. 2 to 4 and FIGS. 6 to 8.

[0025] As shown in Figure 1, the rail system 1 of the present disclosure comprises a pair of fixed rails 4 located between the ground and a plurality of solar cell panels 3 installed in a field 2, a moving beam 5 whose both ends move freely along the pair of fixed rails, and a slider 6 that moves freely along the moving beam.

[0026] Fruit trees such as grapes 11 are planted in the field 2. While grapes will be used as an example in the following description, the crops planted in the field are not limited to grapes, and may also include vegetables such as tomatoes and tea. The field 2 has, for example, a square shape with each side measuring 30 m, but is not limited to this. It may also have a pentagonal shape with one corner of a rectangle rounded off, or may have an inclined surface. The rail system 1 of the present application is installed in such a field.

[0027] As shown in Figure 2, multiple fixed rails 4 are installed on the field 2, parallel to each other and at equal intervals. Of the multiple fixed rails 4, adjacent fixed rails 4 are arbitrarily selected to form a pair of fixed rails 4. The multiple fixed rails 4 have a shape that follows the shape of the field as a whole, for example, a rectangular shape as shown in Figure 2. Support posts 7 are erected at the corners of the field 2, and the multiple fixed rails 4 are supported on the field 2 by the supports 7. The positional relationship between the fixed rails 4 and the grapes 11 is, for example, as shown in Figure 3, where the fixed rails 4 are installed between ridges, but is not limited to this; the fixed rails 4 may be installed for each of multiple ridges, or may be installed at a predetermined interval regardless of the ridges.

[0028] Mounting bases 9 that support the solar cell panels 3 are provided on the multiple fixed rails 4. The mounting bases 9 have substantially the same shape as the multiple fixed rails 4, for example, an overall rectangular shape. The support columns 7 that support the multiple fixed rails 4 may support the mounting bases 9, or a separate support column may support the mounting bases 9.

[0029] The solar cell panels 3 are mounted on a mount 9 at predetermined intervals as shown in Fig. 1. As shown in Fig. 3, a tilting device 31 is provided on the mount 9, and the solar cell panels 3 are mounted on the tilting device 31. The tilting device 31 tilts the solar cell panels 3.

[0030] [1-2 Components of the Rail System] Next, each component will be described.

[0031] [1-2-1 Fixed Rails] The fixed rails 4 are installed between the ground and the multiple solar cell panels 3 installed in the field 2. The fixed rails are made of elongated steel or aluminum alloy material, and have a hollow rectangular cross section, as shown in FIG. 3, with an opening near the center of one side. The fixed rails 4 are, for example, long enough to span the field 2. The steel material is, for example, an alloy containing mainly iron. The multiple fixed rails 4 are arranged parallel to each other in a direction parallel to the ground. For example, the multiple fixed rails 4 are arranged parallel to each other at intervals of 1 m, although the spacing between a pair of fixed rails 4 may vary slightly depending on the shape of the ground. As shown in FIG. 2, the multiple fixed rails 4 are connected by bridge rails 8 connecting the ends of the fixed rails, and the overall shape of the multiple fixed rails 4 is, for example, rectangular.

[0032] <Supports> The multiple fixed rails 4 configured in a square shape are supported by supports 7 erected in the field 2. The fixed rails 4 are fixed to the supports 7, for example, by welding or with bolts and nuts. The supports 7 are erected, for example, at the four corners of the field 2. The supports 7 have a shape and configuration sufficient to support the multiple fixed rails 4 and solar cell panels 3 that they support, and are, for example, columnar members made of an iron alloy.

[0033] <Solar Cell Panel> Each solar cell panel 3 includes one or more solar cells. The solar cells generate electricity by receiving sunlight. The solar cell panel 3 has a rectangular plate shape with each side measuring approximately 1 meter, for example. The multiple solar cell panels 3 are each mounted on the mount 9 via a tilting device 31. The solar cell panel 3 supplies the generated power to, for example, a power supply device 12, which will be described later. The power supply device 12 supplies power to the walking beam 5 and slider 6, which will be described later.

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

[0035] 1-2-2 Walking Beam FIG. 4 is an enlarged view of the fixed rail 4, walking beam 5, and bridge rail 8 as viewed from the Z direction in FIG.

[0036] The walking beam 5 moves freely at both ends along a pair of fixed rails 4. The walking beam 5 is equipped with a pair of beam movement devices 32 at both ends for moving freely along the pair of fixed rails, and a control device 33 for controlling the pair of beam movement devices. Specifically, the walking beam 5 is a long, thin steel member, and its cross section has a hollow rectangular shape similar to the fixed rails 4 shown in FIG. 3, for example, with an opening near the center of one side. The beam length defined below is approximately equal to the rail spacing defined below, but may be longer. Beam length: The length between the centers of the two beam movement devices provided at both ends of the walking beam Rail spacing: The spacing between the centers of the pair of fixed rails

[0037] When the beam length is approximately equal to the rail spacing, the longitudinal direction of the walking beam 5 can be made perpendicular to the direction of free-travel along the fixed rails 4. When the beam length is longer than the rail spacing, the longitudinal direction of the walking beam 5 can be tilted based on a direction perpendicular to the longitudinal direction of the fixed rails 4. For a pair of fixed rails 4, the walking beam 5 can be tilted by having the beam moving device 32 provided at one end of the walking beam 5 run ahead of the beam moving device 32 provided at the other end of the walking beam 5.

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

[0039] 1 shows one walking beam 5, but is not limited to this, and the rail system 1 of the present disclosure may be provided with multiple walking beams 5. This allows for faster work speeds and for multiple tasks to be performed simultaneously.

[0040] <Beam Moving Device> Beam moving devices 32 are provided at both ends of walking beam 5 and are devices for self-propelling walking beam 5 along fixed rails 4. Each of the pair of beam moving devices 32 includes a first wheel 41 that travels on the fixed rails 4, a second wheel 42 that is arranged coaxially with first wheel 41 and travels on fixed rails 4, a first motor 43 that drives first wheel 41, and a second motor 44 that drives second wheel 42.

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

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

[0043] <Controller> The controller 33 controls each of the pair of beam moving devices 32 and independently controls the first motor 43 and the second motor 44. The controller 33 may also be configured to control a slider moving device 35 and an agricultural work tool 36, which will be described later. As shown in FIG. 3 , the controller 33 is provided near the center of the walking beam 5, for example, in a position where it will not collide with the fixed rail 4 and the bridge rail 8. The controller 33 operates using power supplied by a battery (not shown) provided within the controller 33, for example.

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

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

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

[0047] <Communication I / F> The communication I / F 53 is a communication interface that enables communication with an external device via a network such as Wi-Fi (registered trademark). The communication with the external device may be wireless communication or wired communication.

[0048] <Input / Output I / F> The input / output I / F 54 is connected to the beam moving device 32, the slider moving device 35, the agricultural work tool 36, and a position reading device 39 (described later). The input / output I / F 54 sends commands to each connected device to control that device and receives data from that device. For example, if a camera is connected to the agricultural work tool 36, the input / output I / F 54 sends commands to control the camera and receives image data from the camera.

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

[0050] As another example, the battery in control device 33 is configured to be replaceable. In this case, power supply device 12 includes a battery exchange device (not shown) for exchanging the battery in control device 33 with a battery charged in power supply device 12. When traveling beam 5 returns to the position where power supply device 12 is located, power supply device 12 exchanges the battery in control device 33. After the battery is exchanged, traveling beam 5 immediately begins operating. While traveling beam 5 is operating, power supply device 12 charges the exchanged battery with power generated by the multiple solar panels 3.

[0051] [1-2-3 Slider] The slider 6 moves autonomously along the moving beam 5. The slider 6 includes a slider body 37 on which the agricultural work implement 36 is mounted, and a slider moving device 35 that moves the slider body 37.

[0052] <Slider Body> The slider body 37 has a shape similar to that of a lunch box, for example. The agricultural work tool 36 is attached to the slider body 37. The agricultural work tool 36 may be configured to be detachable from the slider body 37.

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

[0054] A communication cable (not shown) is connected to the slider body 37, for example, connecting the control device 33 provided on the moving beam 5 to the slider body 37. The control device 33 controls, for example, the agricultural work implement 36 and the slider moving device 35 via this communication cable.

[0055] <Agricultural Work Tool> The agricultural work tool 36 is, for example, an articulated robot arm, but is not limited thereto and may be a moving device that moves an agricultural work tool in the Z direction in FIG. 3 . A first end of the agricultural work tool 36 is connected to the slider body 37, and a second end may be equipped with an attachment / detachment mechanism to attach various agricultural work tools to the tool. Examples of the tools include a sprinkler member (e.g., a shower head) for sprinkling water, a sensor (e.g., a camera) for detecting the condition of agricultural crops, a robotic hand for harvesting fruits and vegetables, scissors for pruning, a spray for spraying pesticides, a hook for carrying luggage, etc.

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

[0057] 2. Operation of the Rail System Next, a description will be given of the operation of the rail system 1. The rail system 1 moves the agricultural work implement 36 to a predetermined position in the field 2 by the self-propelled movement of the travelling beam 5 and the slider 6.

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

[0059] <Determining the Position of the Walking Beam> The control device 33 determines the current position of the walking beam 5 on the rail system 1 in order to control the beam moving device 32 and move the walking beam 5 to a predetermined position. To determine the current position of the walking beam 5, for example, a position reading device 39 is provided on the walking beam 5. Alternatively, the position of the walking beam 5 may be detected from outside the rail system 1, and information indicating the position may be sent to the control device 33.

[0060] The position reading device 39 is, for example, a reflective photosensor. In this case, striped tape is attached to the fixed rail 4, the reflective photosensor detects the stripes, and the control device 33 counts the number of stripes to determine the position of the moving beam 5. Alternatively, a two-dimensional barcode, such as a QR Code (registered trademark), may be attached to the fixed rail 4. The two-dimensional barcode contains information indicating the position where the two-dimensional barcode is attached. The position reading device 39, for example, a camera, reads the two-dimensional barcode, and the control device 33 extracts position information from the read two-dimensional barcode, thereby determining the position of the moving beam 5. Alternatively, the position reading device 39 may be a laser rangefinder. The laser rangefinder obtains the distance from the moving beam 5 to a reference point, and the position reading device 39 determines the position of the moving beam 5. The reference point is, for example, a reflective member attached at a predetermined position on the fixed rail 4 or the bridge rail 8.

[0061] <Controlling the Direction of the Walking Beam> The direction of the walking beam 5 is controlled so that its longitudinal direction is perpendicular to the longitudinal direction of the fixed rails 4. The control device 33 controls the direction of the walking beam 5 by controlling the first motor 43 and the second motor 44 of each beam movement device 32 (hereinafter also referred to as controlling the beam movement devices 32). To control the direction of the walking beam 5, the control device 33 may, for example, use a position reading device 39 to acquire the positions of both ends of the walking beam 5 on the fixed rails 4 and determine the direction of the walking beam 5. Alternatively, the control device 33 may determine the direction of the walking beam 5 using a three-axis magnetic sensor.

[0062] If the beam length of walking beam 5 is longer than the rail spacing, the longitudinal direction of walking beam 5 is tilted with reference to a direction perpendicular to the longitudinal direction of fixed rail 4. In this case, control device 33 controls beam movement devices 32 on both ends of walking beam 5 to tilt the direction of walking beam 5. Control device 33 obtains the rail spacing, for example, using a sensor that measures the rail spacing. Alternatively, control device 33 may obtain the rail spacing by storing in memory 52 a table that indicates the relationship between position in rail system 1 and rail spacing.

[0063] <Movement on Bridge Rail> Figure 6 is a schematic diagram showing the movement process of the walking beam 5 on the bridge rail. The walking beam 5 can move along the bridge rail 8 when both ends of the walking beam 5 are positioned at the ends of the pair of fixed rails 4. The movement process of the walking beam 5 will be explained based on Figure 6.

[0064] Assume that initially, the walking beam 5 is at position a. The control device 33 controls each beam moving device 32 to move the walking beam 5 to the end of the fixed rail 4, i.e., position b.

[0065] Next, the control device 33 controls each beam moving device 32 to rotate the first wheel 41 and the second wheel 42 in opposite directions to each other, thereby turning the beam moving device 32 and changing the traveling direction of the beam moving device 32 to the X direction in Figure 6.

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

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

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

[0069] As a result, when both ends of the walking beam 5 are positioned at the ends of a pair of fixed rails 4, the walking beam 5 can move along the bridge rails 8 and move to the adjacent pair of fixed rails 4.

[0070] <Slider Operation> The slider 6 is self-propelled along the walking beam 5, and can move to a predetermined position between one end of the walking beam 5 and the other. Specifically, the control device 33 controls the first motor 43 and the second motor 44 of the slider movement device 35 included in the slider 6. The controlled first motor 43 and second motor 44 rotate the first wheel 41 and the second wheel 42, respectively, to move the slider 6 along the walking beam 5. In this way, the control device 33 can move the slider 6 equipped with the agricultural work implement 36 to a predetermined position between one end and the other end of the walking beam 5 in the longitudinal direction.

[0071] <Identifying Slider Position> The control device 33 controls the beam moving device 32 to move the slider 6 to a predetermined position. To do this, the control device 33 identifies the current position of the slider 6 on the walking beam 5. To identify the current position of the slider 6, a position reading device 39 may be provided, similar to the walking beam 5.

[0072] Alternatively, stepping motors may be used as the first motor 43 and the second motor 44 of the slider moving device 35. In this case, for example, a switch is provided at one end of the moving beam 5 to detect that the slider 6 is at that end, and the control device 33 identifies the position of the slider 6 by counting the number of drive pulses that rotate the stepping motor after the switch detects the slider 6.

[0073] [3 Summary] As described above, the rail system 1 of the present disclosure allows the moving beam 5 and slider 6 to self-propel, moving the slider 6 in a direction intersecting the fixed rail 4. This allows the slider 6 equipped with the agricultural work tool 36 to move in a direction intersecting the fixed rail 4, thereby resolving the problem of agricultural work jigs connected to the agricultural work tool 36 not being able to reach the fruit trees. Furthermore, because the agricultural work tool 36 can move in a direction perpendicular to the longitudinal direction of the fixed rail 4, there is no need to provide a fixed rail 4 for each row of crops, which reduces the number of fixed rails 4 and reduces the cost of the rail system 1.

[0074] [4 Modification] Fig. 7 is a perspective view showing an overview of a modification of the rail system according to the present disclosure. Fig. 8 is an overview view showing an enlarged cross section of Fig. 7. In the above embodiment, a mount supporting the multiple solar cell panels 3 was provided separately from the pair of fixed rails 4. In this modification, the pair of fixed rails 4 form part of the mount supporting the multiple solar cell panels 3 above the field.

[0075] As shown in Fig. 7 , the rail system 1 of this modified example does not have a pedestal 9 provided separately from the fixed rail 4. Fig. 8 shows an example in which the fixed rail 4 is part of the pedestal 9. A column-shaped steel member having a square cross section with one side open serves as the pedestal 9, and the interior thereof functions as the fixed rail 4. The beam movement device 32 moves within it. As another example, the fixed rail 4 may be provided in contact with the pedestal 9.

[0076] Because the fixed rail 4 is part of the mounting frame 9, it is possible to reduce the height of the entire rail system 1. This improves the strength against wind and rain of the rail system 1. Furthermore, because the fixed rail 4 and mounting frame 9 can be installed at the same time, it is possible to reduce construction costs and time.

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

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

Claims

1. A rail system comprising: a pair of fixed rails positioned between a plurality of solar panels installed in a field and the ground; a moving beam whose both ends run along the pair of fixed rails; and a slider that runs along the moving beam.

2. The rail system according to claim 1, wherein the slider includes a slider body provided with an agricultural work implement, and a slider moving device that moves the slider body.

3. The rail system according to claim 1 or 2, further comprising a bridge rail connecting the ends of the pair of fixed rails, and the moving beam is movable along the bridge rail when both ends thereof are positioned at the ends of the pair of fixed rails.

4. The moving beam includes a pair of beam moving devices for running the pair of fixed rails at both ends, and a control device for controlling the pair of beam moving devices. Each of the pair of beam moving devices includes a first wheel that runs on the fixed rail, a second wheel that is arranged coaxially with the first wheel and runs on the fixed rail, a first motor that drives the first wheel, and a second motor that drives the second wheel. The control device independently controls the first motor and the second motor of each of the beam moving devices. The rail system according to any one of claims 1 to 3.

5. The rail system according to any one of claims 1 to 4, further comprising a power supply device that supplies power generated by the plurality of solar panels to the moving beam and the slider.

6. The rail system according to any one of claims 1 to 5, wherein the pair of fixed rails is a part of a gantry that supports the plurality of solar panels above the field.

Images