Agricultural work system

Abstract

An agricultural work system 1 according to the present disclosure comprises: a photovoltaic power generation mechanism 100 including photovoltaic power generation panels 2 arranged above a field F; a rail 8 provided between the photovoltaic power generation panels 2 and the ground; agricultural work devices 22; and movement mechanisms 24 for moving the agricultural work devices 22 along the rail 8.

Description

Farming System

[0001] This disclosure relates to an agricultural work system. This application claims priority to Japanese Application No. 2023-220750, filed December 27, 2023, and incorporates by reference all of the contents of said Japanese application.

[0002] Patent Document 1 discloses a solar power generation facility that includes a solar power generation panel and a mounting base that supports the solar power generation panel above a farm field.

[0003] JP 2014-236200 A

[0004] The agricultural work system disclosed herein comprises a solar power generation mechanism including solar power generation panels arranged above a field, rails provided between the solar power generation panels and the ground, agricultural work equipment, and a movement mechanism for moving the agricultural work equipment along the rails.

[0005] FIG. 1 is a diagram showing an example of the overall configuration of an agricultural work system according to an embodiment. FIG. 2 is a diagram showing a rail unit. FIG. 3 is a diagram showing a portion of a platform including a working unit and a solar power generation mechanism. FIG. 4 is a diagram showing another example of an end effector. FIG. 5 is a diagram showing a moving mechanism. FIG. 6 is a diagram for explaining the movement of the moving mechanism when passing through a connecting portion between a first rail and a second rail. FIG. 7 is a block diagram showing an example of the functional configuration of a control device and a working unit. FIG. 8 is a functional block diagram showing an example of quality control processing performed by the control device.

[0006] [Problem to be Solved by the Present Disclosure] The above-described solar power generation system enables solar power generation while agricultural work is being carried out, enabling effective use of farmland. Meanwhile, further improvements in the efficiency of farmland management and farming are also desired. In light of this, the present inventor has discovered a new method for improving the efficiency of farmland management and farming while also achieving effective use of farmland by installing solar power generation panels.

[0007] Effect of the Present Disclosure According to the present disclosure, it is possible to improve the efficiency of field management work and agricultural work.

[0008] First, the contents of the embodiment will be listed and explained.

[0009] (1) The agricultural work system disclosed herein comprises a solar power generation mechanism including solar power generation panels arranged above a field, rails provided between the solar power generation panels and the ground, agricultural work equipment, and a movement mechanism for moving the agricultural work equipment along the rails.

[0010] According to the above configuration, by providing rails on the mount supporting the solar power generation mechanism or by using the mount supporting the solar power generation mechanism as a rail, it is possible to easily install agricultural work equipment that can be moved throughout the entire field, which results in improved efficiency in field management and agricultural work.

[0011] (2) In the agricultural work system of (1) above, the agricultural work device may include an arm having an upper end fixed to the moving mechanism and an end effector detachably attached to the lower end of the arm. In this case, multiple end effectors each capable of performing different tasks can be used interchangeably, allowing the agricultural work device to perform multiple tasks.

[0012] (3) In the agricultural work system described above in (2), the solar power generation mechanism may further include an adjustment mechanism that adjusts the amount of solar radiation in the field. In this case, the amount of solar radiation in the field can be adjusted.

[0013] (4) In the agricultural work system of (3), the adjustment mechanism may include an elevation angle variable mechanism that supports the solar power generation panel so that the elevation angle of the solar power generation panel can be changed. In this case, by changing the elevation angle of the solar power generation panel, it is possible to adjust the amount of solar radiation in the field as well as the amount of wind in the field.

[0014] (5) In the agricultural work system of (4) above, if an environment detection unit that detects the environment of the field is further provided, the elevation angle variable mechanism may be configured to be able to control the elevation angle based on the environment of the field. In this case, the elevation angle of the solar power generation panel can be controlled according to the environment of the field so that the amount of solar radiation and wind volume are appropriate for the crops in the field.

[0015] (6) In the agricultural work system of (4), if a condition detection unit that detects the condition of the crops in the field is further provided, the elevation angle variable mechanism may be configured to be able to control the elevation angle based on the condition of the crops. In this case, the elevation angle of the solar power generation panel can be controlled to provide an appropriate amount of solar radiation and wind for the crops in the field.

[0016] (7) In the agricultural work system described in (4) above, if the end effector includes a condition detection unit that detects the condition of the crops in the field, it is preferable that the elevation angle variable mechanism is capable of adjusting the elevation angle based on the condition of the crops. In this case, too, the elevation angle of the solar power generation panel can be controlled to provide an appropriate amount of solar radiation and wind for the crops in the field.

[0017] (8) In the agricultural work system of (5) above, when the arm includes a manipulator that can change the position of the end effector within a predetermined range around the moving mechanism, it is preferable that the moving mechanism and the manipulator are configured so that their operations can be controlled based on the environment of the field. In this case, the moving mechanism and the manipulator can perform work operations that correspond to the environment of the field.

[0018] (9) In the agricultural work system of (6) above, when the arm includes a manipulator that can change the position of the end effector within a predetermined range around the moving mechanism, it is preferable that the moving mechanism and the manipulator are configured so that their operations can be controlled based on the state of the crop. In this case, the moving mechanism and the manipulator can perform work operations according to the state of the crop.

[0019] (10) In the agricultural work system of (2) above, if an environment detection unit that detects the environment of the field is provided, it is preferable that the arm includes a manipulator that can change the position of the end effector within a predetermined range around the moving mechanism, and that the moving mechanism and the manipulator are configured to be operable and controllable based on the environment of the field. In this case, the moving mechanism and the manipulator can perform work operations in accordance with the environment of the field.

[0020] (11) In the agricultural work system of (2) above, if a condition detection unit that detects the condition of the crops in the field is provided, it is preferable that the arm includes a manipulator that can change the position of the end effector within a predetermined range around the moving mechanism, and the moving mechanism and the manipulator are configured to be operable and controllable based on the condition of the crops. In this case, the moving mechanism and the manipulator can perform work operations according to the condition of the crops.

[0021] (12) In the agricultural work system of (2), the tasks that can be performed by the end effector may include harvesting the crops, pruning the crops, watering the crops, fertilizing the crops, spraying pesticides, detecting the condition of the crops, taking images of the crops, controlling pests, and charging equipment in the field. In this case, the agricultural work device can perform multiple types of agricultural work depending on the end effector.

[0022] (13) In the agricultural work system of (2) above, if another agricultural work implement and another movement mechanism for moving the other agricultural work implement along the rail are included, it is preferable that the other agricultural work implement include another end effector capable of performing an agricultural work different from the agricultural work that the end effector can perform. In this case, the plurality of agricultural work implements can cooperate to perform the agricultural work.

[0023] (14) The agricultural work system according to any one of (1) to (13) above may further include a power supply device that supplies power generated by a solar power generation panel to the agricultural work device or the moving mechanism. In this case, the power generated by the solar power generation panel can be effectively utilized.

[0024] (15) In the agricultural work system of any one of (1) to (14) above, it is preferable that the system further comprises a position detection mechanism that detects the position of the agricultural work implement.

[0025] (16) In any one of the agricultural work systems (6), (7), and (11) above, the state detection unit may include at least one of a sugar content sensor, an acidity sensor, and an imaging device.

[0026] (17) In the agricultural work system of any one of (1) to (16) above, the rail may be part of a frame supporting the solar power generation panel. In this case, the moving mechanism and the agricultural work device can be installed without installing a dedicated rail separately from the frame.

[0027] (18) In the agricultural work system according to any one of (1) to (16), a rack may be provided for supporting the solar power generation panels, and the rails may be supported by the rack. In this case, the rails can be installed without providing any additional support posts for supporting the rails other than the rack.

[0028] [Details of the embodiment] Preferred embodiments will now be described with reference to the drawings. Note that at least some of the embodiments described below may be combined in any desired manner.

[0029] [Overall Configuration of the Agricultural Work System] FIG. 1 is a diagram showing an example of the overall configuration of an agricultural work system according to an embodiment. In FIG. 1, the agricultural work system 1 includes a solar power generation mechanism 100 installed above a field F. The agricultural work system 1 is capable of generating solar power while cultivating crops in the field F using the solar power generation mechanism 100. The crop C cultivated in the field F is, for example, grapes. The agricultural work system 1 also has a function to control (manage) the state of the crop C in the field F and a function to support agricultural work in the field F. In the following description, three mutually orthogonal directions in each figure are referred to as the X direction, the Y direction, and the Z direction. The Z direction is the vertical direction.

[0030] In addition to the solar power generation mechanism 100, the agricultural work system 1 includes a control device 4, a mounting base 6, a rail unit 7, and a plurality of work units 10. The solar power generation mechanism 100 includes a plurality of solar power generation panels 2 and a plurality of elevation angle variable mechanisms. Each of the plurality of solar power generation panels 2 includes a plurality of cells 2a and a panel frame 2b. The plurality of cells 2a are arranged on the panel frame 2b. The panel frame 2b holds the plurality of cells 2a in a panel shape.

[0031] The voltage of the power output by the multiple solar power generation panels 2 is adjusted via a DC / DC converter or the like, and the power is provided to a power conditioner (PCS) 12. The PCS 12 converts the power from the multiple solar power generation panels 2 into AC and supplies the power to a load connected to the PCS 12. The PCS 12 is also connected to a commercial AC power system and may provide power from the multiple solar power generation panels 2 to the system. Each component of the system 1 is connected to the PCS 12 as a load. Therefore, the power from the multiple solar power generation panels 2 is supplied to each component of the system 1. In other words, the PCS 12 functions as a power supply device that supplies the power generated by the solar power generation panels 2 to the work unit 10 (agricultural work equipment or a mobile mechanism). In this case, the power from the solar power generation panels 2 can be effectively utilized.

[0032] The agricultural work system 1 may include a storage battery for storing the output of the DC / DC converter. The DC power stored in the storage battery is used as power output from a charging station (described later) or as DC power required by the agricultural work system 1.

[0033] The mounting frame 6 supports the multiple solar panels 2. The mounting frame 6 includes multiple support columns 6a, multiple beam frames 6b, and multiple support frames 6c. The multiple support columns 6a, multiple beam frames 6b, and multiple support frames 6c are rod-shaped members made of steel, aluminum alloy, or the like. The multiple support columns 6a (four in the illustrated example) are erected along the edge of the field F in the Z direction. Note that in FIG. 1 , the support columns 6a are provided at the four corners of the field F. The multiple beam frames 6b (five in the illustrated example) are provided above the field F. The multiple beam frames 6b extend along the Y direction. The multiple beam frames 6b are arranged in the X direction at regular intervals. The multiple elevation angle variable mechanisms described above are provided on the upper portions of the multiple beam frames 6b, respectively. The multiple elevation angle variable mechanisms support the solar panels 2 on the beam frames 6b so as to change the elevation angle of the solar panels 2.

[0034] The multiple support frames 6c (two in the illustrated example) extend along the X direction. The multiple support frames 6c connect the tips of the multiple beam frames 6b and the tips of the supports 6a. This allows the multiple beam frames 6b and the multiple photovoltaic panels 2 to be supported above the field F.

[0035] Fig. 2 is a diagram showing the rail unit 7. Fig. 2 shows the mount 6 without the photovoltaic power generation mechanism 100, the beam frame 6b of the mount 6, and the support frame 6c. The rail unit 7 forms a track along which the multiple work units 10 travel. The rail unit 7 is provided between the multiple photovoltaic power generation panels 2 and the ground of the field F. The rail unit 7 is made up of multiple rails 8. The multiple rails 8 are, for example, rod-shaped members made of C-section steel. The multiple rails 8 include multiple first rails 8a and multiple second rails 8b.

[0036] A plurality of first rails 8a (five in the illustrated example) extend along the Y direction. The plurality of first rails 8a are arranged side by side in the X direction at regular intervals. A plurality of second rails 8b (two in the illustrated example) extend along the X direction. The plurality of second rails 8b connect the tips of the plurality of first rails 8a. This allows the rail unit 7 to be configured in a lattice shape. In other words, the rail unit 7 is a rail network made up of rails 8 combined together.

[0037] The rail unit 7 is provided with a plurality of environment detection units 14. The plurality of environment detection units 14 are provided at predetermined intervals throughout the entire farm field F. The plurality of environment detection units 14 include, for example, a temperature and humidity sensor and an air volume sensor. The environment detection units 14 detect the temperature, humidity, and air volume as the environment of the farm field F. The environment detection units 14 are communicatively connected to the control device 4. The output of the environment detection units 14 is provided to the control device 4.

[0038] The rail unit 7 is also provided with a plurality of cameras 16. The cameras 16 are installed at predetermined intervals throughout the field F. The cameras 16 capture images of the crops C in the field F. The cameras 16 are communicatively connected to the control device 4. Image data output by the cameras 16 is provided to the control device 4.

[0039] The base 6 is also provided with multiple wireless communication devices 18. The multiple wireless communication devices 18 are installed at predetermined intervals throughout the field F. The multiple wireless communication devices 18 have the function of conducting wireless communication with the work unit 10. The multiple wireless communication devices 18 are connected to the control device 4. The control device 4 can communicate with the work unit 10 via the multiple wireless communication devices 18. The multiple wireless communication devices 18 and the work unit 10 communicate via, for example, a wireless LAN. In other words, the multiple wireless communication devices 18 are access points. In the following description, the multiple wireless communication devices 18 may also be referred to as access points 18. Note that FIG. 2 shows a case where an access point 18 is installed on each of the four supports 6a. The access point 18 may be installed on the base 6 or on the rail unit 7.

[0040] FIG. 3 is a diagram showing a portion of the mount 6 including the working unit 10 and the solar power generation mechanism 100. As described above, the solar power generation panel 2 and the elevation angle variable mechanism 20 are provided on the beam frame 6b of the mount 6. The elevation angle variable mechanism 20 includes a base 20a, a support 20b, and an actuator 20c. The base 20a is provided on the upper surface of the beam frame 6b. The support 20b is rotatable relative to the base 20a. The support 20b rotates around an axis along the Y direction. The support 20b is fixed to the underside of the solar power generation panel 2. Therefore, the solar power generation panel 2 can rotate together with the support 20b relative to the base 20a. As a result, the elevation angle variable mechanism 20 supports the solar power generation panel 2 so that the elevation angle of the solar power generation panel 2 can be changed. The actuator 20c drives the rotation of the support 20b. In other words, the elevation angle of the solar power generation panel 2 can be changed by controlling the actuator 20c. The actuator 20c is controlled by the control device 4. In this embodiment, the elevation angle variable mechanism 20 changes the elevation angle of the solar power generation panel 2, thereby adjusting the amount of solar radiation in the field F and the amount of wind in the field F. In other words, the elevation angle variable mechanism 20 constitutes an adjustment mechanism that adjusts the amount of solar radiation in the field F.

[0041] The multiple work units 10 are suspended from the rail unit 7. The multiple work units 10 move along the rails 8 of the rail unit 7 and have the function of performing agricultural work on the crops C in the field F and detecting the condition of the crops C.

[0042] 3, each of the multiple work units 10 includes an agricultural work device 22, a movement mechanism 24, and a control box 26. The agricultural work device 22 has a function of performing agricultural work on the crops C and a function as a sensor that detects the condition of the crops C. The movement mechanism 24 has a function of moving the agricultural work device 22 along the rails 8a, 8b.

[0043] The agricultural work device 22 includes an arm 30 and an end effector 32. The upper end of the arm 30 is fixed to the movement mechanism 24. The arm 30 extends downward from the movement mechanism 24. The end effector 32 is provided at the lower end of the arm 30.

[0044] The arm 30 is a manipulator that can change the position of the end effector 32 within a predetermined range around the moving mechanism 24. The arm 30 is a multi-joint manipulator that includes a plurality of joints 30a.

[0045] The end effector 32 is a device capable of performing work operations such as agricultural work on crops C. The end effector 32 is placed at a work position by the arm 30. The end effector 32 performs work operations at the work position. The end effector 32 is detachably attached to the arm 30. In this embodiment, multiple types of end effectors 32 are provided for each work operation. Therefore, the agricultural work device 22 can perform multiple types of work operations by changing the end effector 32.

[0046] The tasks that the end effector 32 can perform include harvesting the crops C, pruning the crops C, watering, fertilizing the crops C, spraying pesticides, detecting the condition of the crops C, taking images of the crops C, controlling pests, and charging equipment in the field F. Therefore, the end effector 32 includes an end effector 32 for harvesting, an end effector 32 for pruning, an end effector 32 for watering, an end effector 32 for fertilizing, an end effector 32 for spraying pesticides, an end effector 32 for detecting the condition of the crops C, an end effector 32 for taking images, an end effector 32 for pest control, and an end effector 32 for charging equipment in the field F. Note that equipment in the field F that the charging end effector 32 targets includes other work units 10, as well as agricultural work vehicles such as electric tractors and electric rovers.

[0047] In FIG. 3 , the end effector 32a is for harvesting. The harvesting end effector 32a can grasp the fruits K of the crop C and perform the harvesting work of the fruits K. In FIG. 3 , the end effector 32b is for detecting the condition of the crop C. The condition detection end effector 32b has a sensor 33 at its tip. The sensor 33 includes a sensor that detects the sugar content and acidity of the crop C (fruit K) and a sensor that detects the moisture content of the crop C. In other words, the condition of the crop C includes the sugar content, acidity, and moisture content. The arm 30 brings the sensor 33 of the condition detection end effector 32b close to the crop C. The sensor 33 can detect the condition of the crop C at a position close to the detection target. The sensor 33 also includes a camera that captures images of the crop C (fruit K).

[0048] Figure 4 is a diagram showing another example of the end effector 32. In Figure 4, the end effector 32c is for water-spraying work. The end effector 32c for water-spraying work is equipped with a water-spraying nozzle 34. The end effector 32c for water-spraying work supplies moisture to the crops C by spraying water from the water-spraying nozzle 34. This irrigates the crops C. If the end effector 32c for water-spraying work is used to supply fertilizer, it is used as a fertilizing end effector 32. If the end effector 32c for water-spraying work is used to supply pesticides, it is used as a pesticide-spraying end effector 32.

[0049] 4, the end effector 32d is for pruning. The end effector 32d for pruning includes pruning shears 35. The end effector 32d for pruning can prune the crop C by using the pruning shears 35.

[0050] These multiple types of end effectors 32 are stocked, for example, in a stocker (not shown). The stocker is installed in a position to which the working unit 10 can move. When the end effector 32 is replaced, the working unit 10 moves to the position of the stocker. The agricultural work device 22 can replace the end effector 32 at the position of the stocker. An end effector 32 corresponding to the work to be performed is attached to the agricultural work device 22.

[0051] As such, the agricultural work apparatus 22 of this embodiment is equipped with an arm 30 fixed to the moving mechanism 24 and an end effector 32 that is detachably attached to the lower end of the arm 30, so that multiple end effectors 32 that can perform different tasks can be used interchangeably, allowing the agricultural work apparatus 22 to perform multiple tasks.

[0052] 5 is a diagram showing the movement mechanism 24. In FIG. 5, the movement mechanism 24 is shown when the rail 8 is viewed from the longitudinal direction. Therefore, the rail 8 is shown as a cross section taken along a plane perpendicular to the longitudinal direction of the rail 8.

[0053] As described above, the rail 8 is made of C-section steel. Therefore, the bottom plate 8r of the rail 8 has a slit 8s along the longitudinal direction. The bottom plate 8r of the rail 8 is a member that forms the lower surface of the rail 8. The slit 8s connects the inside and outside of the rail 8. The slit 8s opens downward.

[0054] The movement mechanism 24 travels in the internal space 8k of the rail 8. The movement mechanism 24 includes a main body 40, a pair of wheels 42, and a pair of motors 44. The pair of motors 44 are provided at both ends of the main body 40. The rotation shafts of the pair of motors 44 are concentric with each other. The pair of motors 44 are so-called in-wheel motors. Therefore, the pair of wheels 42 are integrally provided on the outer circumferential surfaces of the rotors (not shown) of the pair of motors 44. The pair of motors 44 form the axles of the pair of wheels 42 and drive the pair of wheels 42 to rotate.

[0055] The main body 40 is interposed between the pair of motors 44 and integrally connects the pair of motors 44. A connecting shaft 31 is fixed to the main body 40. The connecting shaft 31 is a member that connects the movement mechanism 24 and the arm 30. The connecting shaft 31 extends downward from the main body 40, passes through the slit 8s, and protrudes from the bottom plate 8r of the rail 8. The lower end of the connecting shaft 31 is connected to the arm 30. In this way, the connecting shaft 31 connects the movement mechanism 24 and the arm 30 (the agricultural work implement 22). The pair of motors 44 are controlled independently of each other. Therefore, the pair of motors 44 may rotate in the same direction or in opposite directions.

[0056] Because the bottom plate 8r of the rail 8 has a slit 8s, the connecting shaft 31 protrudes from the bottom plate 8r of the rail 8. Furthermore, the pair of wheels 42 are in contact with the bottom plate 8r. This allows the working unit 10 to be suspended from the rail 8. Furthermore, when the pair of wheels 42 are driven to rotate by the pair of motors 44, the working unit 10 travels on the bottom plate 8r. This allows the working unit 10 to move along the rail 8 of the rail unit 7. The working unit 10 can move on the first rail 8a and second rail 8b included in the rail 8. Therefore, the working unit 10 can move over the entire area of ​​the rail unit 7.

[0057] 6 is a diagram for explaining the movement of the movement mechanism 24 when passing through the connecting portion between the first rail 8a and the second rail 8b. Fig. 6 shows the movement mechanism 24 when the rail 8 is viewed from above. Therefore, the rail 8 is shown as a cross section along the X-Y plane.

[0058] 6 shows the state when the movement mechanism 24 moves from position P1 to position P3 via position P2. Position P1 is a position on the first rail 8a. At position P1, the movement mechanism 24 travels on the first rail 8a toward the second rail 8b. Therefore, at this time, the pair of motors 44 of the movement mechanism 24 rotate in the same direction.

[0059] An end 8a1 of the first rail 8a is connected to an opening 8b1 of the second rail 8b. The opening 8b1 is provided to correspond to the end 8a1. A bottom plate 8r1 of the first rail 8a and a bottom plate 8r2 of the second rail 8b are connected at the opening 8b1. Therefore, the moving mechanism 24 traveling on the first rail 8a can pass through the opening 8b1 and enter the internal space of the second rail 8b.

[0060] In addition to the slit 8s2, the bottom plate 8r2 of the second rail 8b is provided with a connecting slit 8s3. The connecting slit 8s3 is connected to the slit 8a2 of the second rail 8b at a right angle. The connecting slit 8s3 connects the slit 8a2 of the second rail 8b with the slit 8s1 of the first rail 8a.

[0061] After passing through the opening 8b1 and entering the internal space of the second rail 8b, the moving mechanism 24 travels inside the second rail 8b along the connecting slit 8s3 and reaches a point where the slit 8s2 and the connecting slit 8s3 are connected. Position P2 is the point where the slit 8s2 and the connecting slit 8s3 are connected. When the moving mechanism 24 reaches position P2, the pair of motors 44 are controlled to rotate in opposite directions. As a result, the moving mechanism 24 rotates in place while remaining at position P2. In other words, the moving mechanism 24 changes direction while at position P2. When the rotation axes of the pair of motors 44 become approximately parallel to the Y direction, the moving mechanism 24 completes the change in direction and begins traveling along the slit 8s2 of the second rail 8b, proceeding to position P3. In this way, the moving mechanism 24 passes through the connecting portion between the first rail 8a and the second rail 8b.

[0062] In this way, the moving mechanism 24 (work unit 10) can move between the first rail 8a and the second rail 8b, and can move across the entire area of ​​the rail unit 7. Note that a recess 8c is provided in the second rail 8b at a portion facing the opening 8b1. The recess 8c is a portion that is recessed outward from the inner surface 8d of the second rail 8b. The recess 8c is provided to prevent the moving mechanism 24, which changes direction at position P2, from coming into contact with the inner surface 8d of the second rail 8b.

[0063] 5, the control box 26 is fixed to the connecting shaft 31. The control box 26 houses therein a control device that controls each part of the working unit 10, a storage battery, a wireless communication device, etc.

[0064] In this way, in this embodiment, by providing the rail unit 7 on the mount 6 that supports the solar power generation panel 2, it is possible to easily install the agricultural work device 22 (work unit 10) that can move throughout the entire field F. As a result, it is possible to improve the efficiency of management work and agricultural work in the field F. Also, in this embodiment, because the rail unit 7 is supported by the mount 6, it is possible to install the rail unit 7 without providing any additional supports other than the mount 6 to support the rail unit 7.

[0065] [Regarding the Functional Configuration of the Control Device 4 and the Task Unit 10] Fig. 7 is a block diagram showing an example of the functional configuration of the control device 4 and the task unit 10. The control device 4 is a computer such as a personal computer or a server. The control device 4 may be a smartphone, a tablet, or a cloud-based computer system.

[0066] The control device 4 is connected to a plurality of access points 18, a plurality of environment detection units 14, a plurality of cameras 16, and a plurality of actuators 20c. The control device 4 and these devices are connected to each other via wired or wireless communication. The control device 4 can control these devices by issuing control commands to them. The control device 4 can also receive outputs from these devices. The control device 4 is communicatively connected to various information servers via a network. The network may be a local network or a global network. Furthermore, the network may be configured by combining a local network and a global network.

[0067] The control device 4 includes a processing unit 4 a and a storage unit 4 b. The processing unit 4 a is, for example, a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), a field programmable gate array (FPGA), or any of a variety of other processors suitable for computer control.

[0068] The storage unit 4b is, for example, a flash memory, a hard disk, a ROM (Read Only Memory), a RAM (Random Access Memory), etc. The storage unit 4b stores computer programs to be executed by the processing unit 4a and necessary information. The processing unit 4a realizes various processing functions of the processing unit 4a by executing computer programs stored in a computer-readable non-transitory recording medium such as the storage unit 4b.

[0069] The processing unit 4a has a function to control each unit of the agricultural work system 1 and to execute a process for quality control of the crops C in the field F. The quality control process will be described in detail later. The processing unit 4a also has a function to execute a process for detecting the positions of the multiple operation units 10. The processing unit 4a communicates with the operation units 10 via wireless LAN via multiple access points 18. The processing unit 4a acquires information about received signals from the multiple access points 18 when signals are received from the operation units 10. The processing unit 4a detects the position of the operation units 10 based on the information about received signals acquired from the multiple access points 18. The information about received signals includes RSSI (Received Signal Strength Indicator) and CSI (Channel State Information).

[0070] The multiple access points 18 are provided at predetermined intervals throughout the field F. In other words, the locations of the multiple access points 18 are known. Therefore, by analyzing information related to the signals received at the multiple access points 18, the location of the operation unit 10, which is the signal source, can be detected. The processing unit 4a detects the location of each of the multiple operation units 10. The detected locations of the operation units 10 are used for quality control processing. In this embodiment, a solar power generation panel 2 is provided above the operation unit 10, which can make it difficult to detect the location using a GPS receiver. In contrast, in this embodiment, the location of the operation unit 10 is detected using multiple access points 18, so the location of the operation unit 10 can be detected with high accuracy even if a solar power generation panel 2 is provided above.

[0071] The position of the task unit 10 may be detected by distance measurement using a laser beam or a stereo camera. In these distance measurement methods, the position of the task unit 10 is detected by measuring the distance between the task unit 10 and a reference position.

[0072] In addition to the above-described agricultural work implement 22 and moving mechanism 24, the work unit 10 also includes a control device 46, a storage battery 48, and a wireless communication device 50. The control device 46, storage battery 48, and wireless communication device 50 are housed in a control box 26. The control device 46 has the function of controlling the agricultural work implement 22 and the moving mechanism 24.

[0073] The storage battery 48 supplies power to each part of the working unit 10. The wireless communication device 50 is used for wireless communication with the control device 4. The wireless communication device 50 has the function of performing wireless LAN communication with a plurality of access points 18.

[0074] The control device 46 is a computer. The agricultural work implement 22, the moving mechanism 24, and the wireless communication device 50 are connected to the control device 46. The control device 46 can control these devices by issuing control commands to them. The control device 46 can also receive outputs from these devices.

[0075] The control device 46 includes a processing unit 46 a and a storage unit 46 b. The processing unit 46 a is, for example, a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), a field programmable gate array (FPGA), or any of a variety of other processors suitable for computer control.

[0076] The storage unit 46b is, for example, a flash memory, a hard disk, a ROM (Read Only Memory), a RAM (Random Access Memory), etc. The storage unit 46b stores computer programs to be executed by the processing unit 46a and necessary information. The processing unit 46a realizes various processing functions of the processing unit 46a by executing computer programs stored in a computer-readable, non-transitory recording medium such as the storage unit 46b.

[0077] The processing unit 46a has the function of controlling the pair of motors 44 of the movement mechanism 24 to move the working unit 10 to any position within the rail unit 7. The processing unit 46a also has the function of controlling the arm 30 and end effector 32 of the agricultural work device 22 to perform agricultural work. Based on commands given from the control device 4, the processing unit 46a moves the working unit 10 to a predetermined position within the rail unit 7, and controls the arm 30 and end effector 32 to perform the predetermined work.

[0078] The processing unit 46a also acquires the amount of power stored in the storage battery 48, and when the amount of power stored falls below a predetermined level, moves the working unit 10 to a charging station. The charging station (not shown) is provided within the movement range of the working unit 10. When the working unit 10 is located at the charging station, the storage battery 48 can be charged. In this way, the processing unit 46a can charge the storage battery 48 by moving the working unit 10 to the charging station. For example, the charging station is installed in the same location as a stocker. Therefore, the processing unit 46a moves the working unit 10 to the charging station when it determines that the storage battery 48 needs to be charged, or when it determines that the end effector 32 needs to be replaced.

[0079] Note that the multiple work units 10 may be equipped with end effectors 32 for performing the same task, or may be equipped with end effectors 32 for performing different tasks. When the multiple work units 10 are equipped with end effectors 32 for performing different tasks, the multiple work units 10 can work together to perform agricultural work.

[0080] [Quality Control Processing] Fig. 8 is a functional block diagram showing an example of quality control processing performed by the control device 4. The processing unit 4a of the control device 4 controls the quality of the crop C so that it approaches a target quality. The qualities to be controlled include, for example, sugar content, disease state, and moisture content. The target quality is provided by the operator of the control device 4. The target quality includes a target value and a target state for each quality.

[0081] As shown in Fig. 8, when a target quality is given, the processing unit 4a first performs condition detection (step S1 in Fig. 8). Condition detection is a process for detecting the condition of the crop C (fruit K) and the environment. The conditions detected by condition detection include the sugar content and acidity of the crop C (fruit K), the moisture content of the crop C, the disease state of the crop C, the temperature and humidity of the field F, the wind volume of the field F, and the weather of the field F.

[0082] The sugar content, acidity, and moisture content of the crop C are detected by a condition detection end effector 32b. Therefore, the processing unit 4a attaches the condition detection end effector 32b to the arm 30 of the agricultural work device 22 and causes the agricultural work device 22 (work unit 10) to detect the condition. The temperature, humidity, and air volume of the field F are detected by the environment detection unit 14. Weather information for the field F is obtained from an external source, for example, an information server connected via a network or input by an operator of the control device 4. The disease state of the crop C is detected by the condition detection end effector 32b and the camera 16. Therefore, the processing unit 4a attaches the condition detection end effector 32b to the arm 30 of the agricultural work device 22. In this case, the sensor 33 of the end effector 32b includes an imaging camera. The processing unit 4a causes the agricultural work device 22 (work unit 10) to capture images of the crop C. The processing unit 4a determines whether the crop C is diseased based on image data of the crop C captured by the sensor 33 and the camera 16. The processing unit 4a regards this determination result as the disease state of the crop C. In addition, the temperature and humidity of the field F and the air volume of the field F, which are included in the state of the field F, are detected by the environment detection unit 14.

[0083] Next, the processing unit 4a performs device operation setting (step S2 in FIG. 8 ). The device operation setting is a process for causing each component of the system 1 to perform agricultural work, environmental settings, and the like based on the states obtained by the state detection. More specifically, the device operation setting includes setting the actuator 20c, selecting the agricultural work to be performed by the agricultural work device 22, and performing the selected agricultural work. The selected agricultural work includes irrigation, fertilizing, pruning, harvesting, pesticide spraying, pest control, and charging of equipment in the field F. The processing unit 4a controls the actuator 20c and the work unit 10 (the work device 22 and the movement mechanism 24) to perform the device operation setting. In the device operation setting, the processing unit 4a determines a position to which the work unit 10 should be moved based on the position information of the work unit 10 (wireless communication device 50), and moves the work unit 10 (movement mechanism 24). When the work unit 10 reaches the desired position, the processing unit 4a controls the agricultural work device 22 to perform the work.

[0084] The processing unit 4a can adjust the angle of elevation of the photovoltaic power generation panel 2 by setting and controlling the actuator 20c. The processing unit 4a also selects the agricultural work to be performed by the agricultural work device 22 from among irrigation, fertilization, pruning, harvesting, pesticide spraying, pest control, and charging of equipment in the field F. If irrigation is selected, the processing unit 4a attaches an end effector 32c for water-spraying to the arm 30 of the agricultural work device 22 and causes the agricultural work device 22 (work unit 10) to spray water. This irrigates the field F. If fertilization is selected, the processing unit 4a attaches an end effector 32c for water-spraying to the arm 30 of the agricultural work device 22 and causes the agricultural work device 22 (work unit 10) to spray liquid fertilizer. This fertilizes the field F. If pruning is selected, the processing unit 4a attaches a pruning end effector 32d to the arm 30 of the agricultural work device 22, and causes it to prune the crop C at a predetermined location in the field F. If harvesting is selected, the processing unit 4a attaches a harvesting end effector 32a to the arm 30 of the agricultural work device 22, and causes it to harvest the crop C (fruit K) at a predetermined location in the field F.

[0085] If pesticide spraying is selected, the processing unit 4a attaches an end effector 32c for water discharge to the arm 30 of the agricultural work apparatus 22, and causes the agricultural work apparatus 22 (work unit 10) to spray pesticide. This completes pesticide spraying in the field F. If pest control is selected, the processing unit 4a attaches a harvesting end effector 32a or a pruning end effector 32d to the arm 30 of the agricultural work apparatus 22, and prunes areas where pests exist or directly removes pests attached to crops. If charging of equipment in the field F is selected, the processing unit 4a attaches a charging end effector 32 to the arm 30 of the agricultural work apparatus 22. At this time, the processing unit 4a attaches a storage battery that stores charging power to the work unit 10. The work unit 10 to which the charging end effector 32 is attached charges the power stored in the storage battery to equipment in the field F, including other work units 10. In the device operation settings, charging of equipment within the field F may be set to be constant. In this case, the working unit 10 can be charged not only from the charging station but also from another working unit 10 to which a charging end effector 32 is attached.

[0086] When the device operation setting is executed, the processing unit 4a performs quality detection (step S3 in FIG. 8). Quality detection is a process for detecting the quality of the controlled object. Therefore, quality detection includes detection of sugar content, disease state, and moisture content. After completing quality detection, the processing unit 4a compares the target quality with the quality detected by the quality detection (step S4 in FIG. 8) and performs condition detection again based on the comparison result. In other words, the processing unit 4a performs feedback control of the quality of the controlled object. Thereafter, the processing unit 4a repeats these processes to control the actual quality so that it approximates the target quality. Note that the period from when the device operation setting is executed until quality detection is performed can be changed as appropriate depending on the quality of the controlled object.

[0087] The processing unit 4a individually controls the quality to be controlled. First, the control of sugar content will be described. When a target sugar content is given as the target quality, the processing unit 4a performs state detection. In state detection, the processing unit 4a detects sugar content, acidity, temperature and humidity, air volume, weather, and moisture content. Next, the processing unit 4a performs device operation settings based on each state. In the device operation settings, the processing unit 4a sets and controls the actuator 20c to adjust the elevation angle of the solar power generation panel 2. This allows the processing unit 4a to adjust the amount of solar radiation reaching the ground of the field F and the air volume of the field F based on the state of the field F. Furthermore, the processing unit 4a selects the agricultural work to be performed by the agricultural work device 22 and causes the selected agricultural work to be performed based on each state. In this example, the processing unit 4a selects irrigation. That is, in the device operation settings for sugar content control, the processing unit 4a performs quality control by combining adjustment of the elevation angle of the solar power generation panel 2 and irrigation.

[0088] For example, if the sugar content is lower than the expected sugar content (target sugar content) during the coloring period of the crop C (fruit K), the processing unit 4a can increase the amount of sunlight by adjusting the elevation angle of the solar power generation panel 2 to accelerate the ripening of the fruit K. Furthermore, if it is determined that there is water stress due to the water content, the processing unit 4a adjusts the moisture by irrigation. Conversely, if the sugar content is higher than the expected sugar content (target sugar content), the processing unit 4a can reduce the amount of sunlight by adjusting the elevation angle of the solar power generation panel 2 and spray water to lower the temperature of the field F by irrigation.

[0089] Next, the control of the disease state will be described. When the disease state is given as the target quality, the processing unit 4a performs state detection. In the state detection, the processing unit 4a detects the disease state. As described above, the processing unit 4a determines whether the crop C is diseased or not as the disease state. Next, the processing unit 4a performs device operation settings based on the disease state. In the device operation settings, the processing unit 4a sets and controls the actuator 20c to adjust the elevation angle of the solar power generation panel 2. Furthermore, the processing unit 4a selects the agricultural work to be performed by the agricultural work device 22 based on each state and causes the selected agricultural work to be performed. Here, the processing unit 4a selects irrigation, pruning, pesticide spraying, and pest control. In other words, in the device operation settings for sugar content control, the processing unit 4a performs quality control by combining adjustment of the elevation angle of the solar power generation panel 2, irrigation, pruning, pesticide spraying, and pest control.

[0090] The processing unit 4a can, for example, prune or spray pesticides on parts determined to be diseased. Regardless of the disease state, in the event of rainfall, the processing unit 4a horizontally positions the solar power generation panel 2, causing it to function as an umbrella to prevent rain from hitting the crop C. This is because rain may cause the crop C to become infected with disease. To promote drying after rainfall, the processing unit 4a can adjust the elevation angle of the solar power generation panel 2, or prune the crop C to remove leaves and improve ventilation and lighting. In addition to pest control such as pruning, pesticide spraying, and adjustment of the solar power generation panel 2, the processing unit 4a can also control pests by directly removing pests that have attached to the crop C.

[0091] Next, the control of moisture content will be described. When a target moisture content is given as the target quality, the processing unit 4a performs state detection. In state detection, the processing unit 4a detects temperature and humidity, wind volume, weather, and moisture content. Next, the processing unit 4a performs device operation settings based on each state. In the device operation settings, the processing unit 4a sets and controls the actuator 20c and adjusts the angle of elevation of the solar power generation panel 2. Furthermore, based on each state, the processing unit 4a selects the agricultural work to be performed by the agricultural work device 22 and causes the selected agricultural work to be performed. In this example, the processing unit 4a selects irrigation. That is, in the device operation settings for moisture content control, the processing unit 4a performs quality control by combining adjustment of the angle of elevation of the solar power generation panel 2 and irrigation.

[0092] For example, if the amount of moisture is greater than the expected amount (target amount), the processing unit 4a can increase the amount of solar radiation by adjusting the angle of elevation of the solar power generation panel 2, thereby raising the temperature of the field F and promoting evaporation of moisture. Conversely, if the amount of moisture is less than the expected amount (target amount), the processing unit 4a can reduce the amount of solar radiation by adjusting the angle of elevation of the solar power generation panel 2, thereby increasing the range of shadow in the field F and suppressing the increase in moisture. Furthermore, moisture can be provided to the crops C by irrigation.

[0093] As described above, the agricultural work device 22 and the moving mechanism 24 of this embodiment are configured so that their operation can be controlled based on the environment of the field F. Furthermore, the agricultural work device 22 and the moving mechanism 24 of this embodiment are configured so that they can operate based on the state of the crops C.

[0094] [Others] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. For example, in the above embodiment, the rail unit 7 is provided on the mount 6 that supports the solar power generation panel 2, but the beam frame 6b and support frame 6c of the mount 6, which are part of the mount 6, may also function as rails for the work unit 10. In this case, the agricultural work device 22 (work unit 10) can be installed without installing a dedicated rail separately from the mount 6.

[0095] Furthermore, in the above embodiment, the arm 30 of the agricultural work device 22 is an articulated manipulator, but the arm 30 may be an extendable shaft-like arm as long as it is capable of performing agricultural work.

[0096] In addition, in the above embodiment, the example was given in which the crop C (fruit K) cultivated in the field F was grapes, but this is not limited to this, and other fruit trees, vegetables, etc. may also be cultivated as the crop C.

[0097] Furthermore, in the present embodiment, the elevation angle variable mechanism 20 is used as an adjustment mechanism for adjusting the amount of solar radiation in the field F. However, the adjustment mechanism may be any mechanism that can adjust the amount of solar radiation in the field F. For example, the solar power generation panel 2 may be configured as a transparent panel, and a film with a light control function may be used as the adjustment mechanism. In this case, the light control film is used by being overlaid on the transparent solar power generation panel 2. In this way, sunlight that has been appropriately adjusted by passing through the solar power generation panel 2 and the light control film is irradiated onto the field F.

[0098] The scope of the present invention is defined by the claims, not by the meaning described above, and is intended to include meanings equivalent to the claims and all modifications within the scope thereof.

[0099] DESCRIPTION OF SYMBOLS 1 Agricultural work system 2 Solar power generation panel 2a Cell 2b Panel frame 4 Control device 4a Processing unit 4b Memory unit 6 Mounting base 6a Support 6b Beam frame 6c Support frame 7 Rail unit 8 Rail 8a First rail 8a1 End 8a2 Slit 8b Second rail 8b1 Opening 8c Relief portion 8d Inner surface 8k Internal space 8r Bottom plate 8r1 Bottom plate 8r2 Bottom plate 8s Slit 8s1 Slit 8s2 Slit 8s3 Connecting slit 10 Working unit 14 Environment detection unit 16 Camera 18 Wireless communication device (access point) 20 Elevation angle variable mechanism (adjustment mechanism) 20a Base 20b Support unit 20c Actuator 22 Agricultural work device 24 Moving mechanism 26 Control box 30 Arm 30a Joint 31 Connecting shaft 32 End effector 32a, 32b, 32c, 32d End effector 33 Sensor 34 Water discharge nozzle 40 Main body 42 Wheel 44 Motor 46 Control device 46a Processing unit 46b Memory unit 48 Storage battery 50 Wireless communication device 100 Solar power generation mechanism C Crop F Field K Fruit P1 Position P2 Position P3 Position

Claims

1. A farming operation system comprising a solar power generation mechanism including a solar power generation panel arranged above a field, a rail provided between the solar power generation panel and the ground, a farming operation device, and a moving mechanism for moving the farming operation device along the rail.

2. The farming operation system according to claim 1, wherein the farming operation device includes an arm having an upper end fixed to the moving mechanism and an end effector detachably provided at a lower end of the arm.

3. The farming operation system according to claim 2, wherein the solar power generation mechanism further includes an adjustment mechanism for adjusting the solar radiation amount of the field.

4. The farming operation system according to claim 3, wherein the adjustment mechanism includes an elevation angle variable mechanism for supporting the solar power generation panel so that the elevation angle of the solar power generation panel can be changed.

5. The farming operation system according to claim 4, further comprising an environment detection unit for detecting the environment of the field, wherein the elevation angle variable mechanism is configured to be able to control the elevation angle based on the environment of the field.

6. The farming operation system according to claim 4, further comprising a state detection unit for detecting the state of crops in the field, wherein the elevation angle variable mechanism is configured to be able to control the elevation angle based on the state of the crops.

7. The farming operation system according to claim 4, wherein the end effector includes a state detection unit for detecting the state of crops in the field, and the elevation angle variable mechanism can adjust the elevation angle based on the state of the crops.

8. The farming operation system according to claim 5, wherein the arm includes a manipulator capable of changing the position of the end effector within a predetermined range around the moving mechanism, and the moving mechanism and the manipulator are configured to be able to control their operations based on the environment of the field.

9. The farming operation system according to claim 6, wherein the arm includes a manipulator capable of changing the position of the end effector within a predetermined range around the moving mechanism, and the moving mechanism and the manipulator are configured to be able to control their operations based on the state of the crops.

10. The farming operation system according to claim 2, comprising an environment detection unit for detecting the environment of the field, wherein the arm includes a manipulator capable of changing the position of the end effector within a predetermined range around the moving mechanism, and the moving mechanism and the manipulator are configured to be able to control their operations based on the environment of the field.

11. The agricultural work system according to claim 2, comprising a state detection unit that detects the state of the crops in the field, wherein the arm includes a manipulator capable of changing the position of the end effector within a predetermined range around the moving mechanism, and the moving mechanism and the manipulator are configured to be operably controlled based on the state of the crops.

12. The agricultural work system according to claim 2, wherein the work executable by the end effector includes any one of harvesting the crops in the field, pruning the crops, watering, fertilizing the crops, spraying pesticides, detecting the state of the crops, imaging the crops, controlling pests, and charging the equipment in the field.

13. The agricultural work system according to claim 2, further comprising another agricultural work device and another moving mechanism that moves the other agricultural work device along the rail, wherein the other agricultural work device includes another end effector capable of performing an agricultural work different from the agricultural work executable by the end effector.

14. The agricultural work system according to any one of claims 1 to 13, further comprising a power supply device that supplies the power generated by the solar power generation panel to the agricultural work device or the moving mechanism.

15. The agricultural work system according to any one of claims 1 to 14, further comprising a position detection mechanism that detects the position of the agricultural work device.

16. The agricultural work system according to any one of claims 6, 7, and 11, wherein the state detection unit includes at least any one of a sugar content sensor, an acidity sensor, and an imaging device.

17. The agricultural work system according to any one of claims 1 to 16, wherein the rail is a part of a gantry that supports the solar power generation panel.

18. The agricultural work system according to any one of claims 1 to 16, comprising a gantry that supports the solar power generation panel, and the rail is supported by the gantry.

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