Harvest conveyance system and container device

Abstract

A harvest conveyance system according to the present disclosure comprises: a rail network that includes a plurality of rails 8 provided above a field F crops C are cultivated; and a container device 50 that is suspended from the plurality of rails 8 and is movable along the plurality of rails 8 from a harvest position at which a harvest obtained by harvesting the crops C is loaded to a prescribed stop position located at an edge of the rail network.

Description

Harvest transport system and container device

[0001] This application claims priority to Japanese Patent Application No. 2023-220678, filed December 27, 2023, and incorporates by reference all of the contents of that application.

[0002] Patent Document 1 discloses a technology for automatically driving a work vehicle such as a tractor along a travel route set in a field to transport materials.

[0003] Japanese Patent Application Laid-Open No. 2020-103092

[0004] The harvest transport system disclosed herein comprises a rail network including a plurality of rails arranged above a field where crops are grown, and a container device suspended from the plurality of rails and movable along the plurality of rails from a harvesting position where the harvested crops are loaded to a predetermined stopping position located at the edge of the rail network.

[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, a container device, and a solar power generation mechanism. FIG. 4 is a diagram showing a movement mechanism. FIG. 5 is a diagram for explaining the movement of the movement mechanism when passing through a connecting portion between a first rail and a second rail. FIG. 6 is a diagram showing main parts of a container device. FIG. 7 is a block diagram showing an example of the functional configuration of a control device and a container device. FIG. 8 is a diagram showing an example of a mode related to movement control of the container device executed by the control device. FIG. 9 is a diagram showing main parts of a container device according to a modified embodiment. FIG. 10 is a diagram showing main parts of a container device according to another embodiment. FIG. 11 is a diagram showing a mode when a container is transported and exchanged by a plurality of transport vehicles. FIG. 12 is a diagram showing main parts of a container device according to a modified embodiment.

[0006] [Problem to be Solved by the Present Disclosure] In the above-described conventional technology, it is necessary to secure a space within the field in which a large work vehicle can travel. However, depending on the crop grown in the field, it may be difficult to secure a space in which the work vehicle can travel, making it difficult to drive the work vehicle. In such cases, the work vehicle cannot be used even when harvesting the crops, which may cause problems in transporting the harvested crops. Therefore, there is a need for a technology that can properly transport the harvested crops even when there is no space in which the work vehicle can travel.

[0007] Effect of the Present Disclosure According to the present disclosure, harvested products can be transported appropriately.

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

[0009] (1) The harvest transport system disclosed herein comprises a rail network including a plurality of rails installed above a field where crops are grown, and a container device suspended from the plurality of rails and movable along the plurality of rails from a harvesting position where the harvested crops are loaded to a predetermined stopping position located at the edge of the rail network.

[0010] According to the above configuration, the container device suspended from the rail can move along the rail to a stopping position at the edge of the rail network, so that the harvested products can be transported to the outer edge of the field without having to secure space for the vehicle to travel in the field. As a result, the harvested products can be transported appropriately.

[0011] (2) In the harvest transport system of (1), the container device preferably includes a measuring unit that measures the load weight of the harvest to be loaded, and a moving mechanism that moves the harvest toward the stopping position when the load weight satisfies a predetermined condition. In this case, the container device can be moved to the stopping position when the load weight reaches a certain level or more.

[0012] (3) In the harvest transport system of (1) or (2) above, if the system further includes a tank for storing the harvest located below the predetermined stopping position, and the container device includes a container for loading the harvest and a transfer mechanism for dropping the harvest downward by opening and closing the bottom of the container, the tank may include a receiving port for receiving the harvest dropping from the container. In this case, the harvest loaded in the container device at the stopping position can be transferred to the tank.

[0013] (4) In the harvest transport system of (1) above, if one or more harvest transport vehicles capable of stopping at a stopping position provided below the predetermined stopping position are further included, it is preferable that the one or more harvest transport vehicles have a top plate on which the harvest-loading containers of the container device are mounted. In this case, the harvest-loaded containers can be transported by the harvest transport vehicles.

[0014] (5) In the harvest transport system of (4), the container device preferably includes a moving mechanism that moves the container along the rail and a coupling unit that releasably couples the container to the moving mechanism, and when the container is located at the predetermined stopping position and the one or more harvest transport vehicles are located at the stopping position, the coupling unit is released. In this case, the container loaded with the harvest can be detached from the moving mechanism and transported.

[0015] (6) In the harvest transport system of (5), the container device may include an extendable connecting shaft provided between the connecting portion and the moving mechanism. In this case, the container can be lowered and loaded onto the harvest transport vehicle.

[0016] (7) In the harvest transport system of (5), the one or more harvest transport vehicles may further include a lifting mechanism for raising and lowering the top plate. In this case, the top plate can be raised and then a container can be loaded onto the top plate.

[0017] (8) In the harvest transport system of any one of (5) to (7), the plurality of harvest transport vehicles include a first harvest transport vehicle that does not have the container loaded thereon and a second harvest transport vehicle that has the empty container loaded thereon, and when the first harvest transport vehicle receives the container that has been disconnected from the container device and moves when it stops at the parking position, and when the second harvest transport vehicle stops at the parking position after the first harvest transport vehicle has moved, the empty container may be connected to the moving mechanism by the coupling portion when the second harvest transport vehicle stops at the parking position. In this case, the container device can disconnect the container loaded with harvest and then connect an empty container, making it possible to load harvest again.

[0018] (9) Furthermore, in the harvest transport system of (1) above, if the harvest transport system further includes a harvest transport vehicle that can stop at a stopping position provided below the predetermined stopping position, and the container device includes a transfer mechanism that opens and closes the bottom of the harvest loading container of the container device to drop the harvest downward, the harvest transport vehicle may include a transport container having a receiving port that receives the harvest dropping from the container. In this case, the harvest can be transferred to the harvest transport vehicle, and the harvest can be transported by the harvest transport vehicle.

[0019] (10) In the harvest transport system of (2) above, if the system further includes an agricultural work device that moves along the rails, the movement mechanism is preferably configured to follow the agricultural work device until the amount of harvested product satisfies a predetermined condition. In this case, even when the agricultural work device performs harvesting work while moving around the field, the agricultural work device can load the harvested product into the container device.

[0020] (11) In the harvest transport system of any one of (1) to (10) above, when the container device includes a measuring unit that measures the load amount of the harvest to be loaded, the container device may further include an output unit that outputs the load amount to an external device. In this case, the load amount of the container device can be recognized from outside.

[0021] (12) In the harvest transport system of (11), if the container device further includes a detector for detecting the state of the harvest, the output unit may output the state together with the load amount. In this case, the state of the harvest in the container device can be recognized from outside.

[0022] (13) From another perspective, the present disclosure provides a container device that is suspended from a plurality of rails that constitute a rail network provided above a field where crops are grown and moves along the rails. The container device includes a container that is loaded with a harvested product obtained by harvesting the crop, a movement mechanism that moves the container along the rails, a measurement unit that measures the load amount of the harvested product loaded in the container, and a control unit that controls the movement mechanism to move the container to a predetermined stop position located at an edge of the rail network and stop the container when the load amount satisfies a predetermined condition.

[0023] [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.

[0024] [Overall Configuration of the 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 using the solar power generation mechanism 100 while cultivating crops in the field F. The crop C cultivated in the field F is, for example, grapes.

[0025] A tank 47 is installed in the field F to store the harvested product obtained by harvesting the crop C. A pomace storage tank 48 and a juice storage tank 49 are connected to the tank 47. The tank 47 has the function of squeezing the harvested fruit and separating it into juice and pomace. The tank 47 may also have the functions of a de-stemmer / crusher and a sorter. In this case, the harvested product is separated into stems and fruit by the de-stemmer / crusher, and then only the fruit is squeezed. The juice and pomace separated by the tank 47 are sent to the pomace storage tank 48 and the juice storage tank 49. The pomace storage tank 48 and the juice storage tank 49 may also have the function of cooling the stored products. The tank 47 is installed on the edge of the field F. The pomace storage tank 48 and the juice storage tank 49 are installed outside the field F.

[0026] The agricultural work system 1 has a function of controlling (managing) the state of the crops C in the field F and a function of supporting agricultural work in the field F. In the following description, three mutually orthogonal directions in each drawing are referred to as the X direction, the Y direction, and the Z direction. The Z direction is the vertical direction.

[0027] In addition to the solar power generation mechanism 100, the agricultural work system 1 includes a control device 4, a platform 6, a rail unit 7, a plurality of work units 10, and a plurality of container devices 50. 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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 and the container device 50 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.

[0033] 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 including a plurality of rails 8.

[0034] 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.

[0035] 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.

[0036] 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 between the work unit 10 and the container apparatus 50. The multiple wireless communication devices 18 are connected to the control device 4. The control device 4 can communicate with the work unit 10 and the container apparatus 50 via the multiple wireless communication devices 18. The multiple wireless communication devices 18 communicate between the work unit 10 and the container apparatus 50, for example, via 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 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.

[0037] FIG. 3 is a diagram showing a portion of the mount 6 including the working unit 10, the container device 50, 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 beam frame 6b is provided with the elevation angle variable mechanism 20. 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 provided rotatably with respect 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 with respect 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. That is, 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, by changing the elevation angle of the solar power generation panel 2 with the elevation angle variable mechanism 20, it is possible to adjust the amount of solar radiation in the field F and the amount of wind in the field F. That is, the elevation angle variable mechanism 20 constitutes an adjustment mechanism that adjusts the amount of solar radiation in the field F.

[0038] 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.

[0039] Similar to the working unit 10, the multiple container devices 50 are also suspended from the rail unit 7. The multiple container devices 50 have the function of loading harvested fruit and the function of transporting the loaded fruit by moving along the rail 8.

[0040] 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 8.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] The end effectors 32 include 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 crops C, and an end effector 32 for imaging.

[0045] 3, the end effector 32a is for harvesting. The harvesting end effector 32a can grasp and harvest the fruits of the crop C. The agricultural work device 22 loads the harvested fruits into a container device 50.

[0046] The container device 50 transports fruit harvested by the agricultural work device 22 or a worker in the field. The fruit transported by the container device 50 is loaded by the agricultural work device 22 or the worker. Each container device 50 includes a container 52, a moving mechanism 54, a control box 56, and a connecting shaft 58. The container 52 is a container in which fruit (harvested products) is loaded. The moving mechanism 54 has the function of moving the container 52 along the rails 8. The moving mechanism 54 has a configuration similar to that of the moving mechanism 24. The connecting shaft 58 connects the moving mechanism 54 and the container 52. The control box 56 is fixed to the connecting shaft 58. The control box 56 houses a control device that controls each part of the container device 50, a storage battery, a wireless communication device, etc.

[0047] Fig. 4 is a diagram showing the movement mechanism 54. Fig. 4 shows the movement mechanism 54 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. Note that the movement mechanism 24 has a similar configuration to the movement mechanism 54. Therefore, only the movement mechanism 54 will be described here.

[0048] 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.

[0049] The movement mechanism 54 travels in the internal space 8k of the rail 8. The movement mechanism 54 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.

[0050] The main body 40 is interposed between the pair of motors 44 and integrally connects the pair of motors 44. A connecting shaft 58 is fixed to the main body 40. The connecting shaft 58 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 58 is connected to the container 52. The control box 56 is disposed below the rail 8. 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.

[0051] Because the bottom plate 8r of the rail 8 has a slit 8s, the connecting shaft 58 protrudes from the bottom plate 8r of the rail 8. The pair of wheels 42 are in contact with the bottom plate 8r. This allows the container device 50 to be suspended from the rail 8. When the pair of wheels 42 are rotationally driven by the pair of motors 44, the container device 50 travels on the bottom plate 8r. This allows the container device 50 to move along the rail 8 of the rail unit 7. The container device 50 can move on the first rail 8a and the second rail 8b included in the rail 8. This allows the container device 50 to move over the entire area of ​​the rail unit 7.

[0052] 5 is a diagram for explaining the movement of the movement mechanism 54 when passing through the connecting portion between the first rail 8a and the second rail 8b. Fig. 5 shows the movement mechanism 54 when the rail 8 is viewed from above. Therefore, the rail 8 is shown as a cross section along the X-Y plane.

[0053] 5 shows the state when the movement mechanism 54 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 54 travels on the first rail 8a toward the second rail 8b. Therefore, at this time, the pair of motors 44 of the movement mechanism 54 rotate in the same direction.

[0054] 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 54 traveling on the first rail 8a can pass through the opening 8b1 and enter the internal space of the second rail 8b.

[0055] 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.

[0056] After passing through the opening 8b1 and entering the internal space of the second rail 8b, the moving mechanism 54 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 54 reaches position P2, the pair of motors 44 are controlled to rotate in opposite directions. As a result, the moving mechanism 54 rotates in place while remaining at position P2. In other words, the moving mechanism 54 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 54 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 54 passes through the connecting portion between the first rail 8a and the second rail 8b.

[0057] In this way, the moving mechanism 54 (container device 50) 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 54, which changes direction at position P2, from contacting the inner surface 8d of the second rail 8b.

[0058] 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 container device 50 and the work unit 10 that can be moved 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.

[0059] FIG. 6 is a diagram showing essential parts of the container device 50. FIG. 6 shows a cross-sectional view of the container 52. FIG. 6 also illustrates a case where the container device 50 is positioned above the tank 47. The container device 50 moves from a loading position where fruit is loaded to a predetermined stopping position. In this embodiment, the stopping position is a position on the rail unit 7 that corresponds to the position where the tank 47 is installed. As shown in FIGS. 1 and 2 , the tank 47 is installed at the edge of the field F. Therefore, the stopping position is a position on the first rail 8a that is located at the edge of the rail unit 7. FIG. 6 illustrates a case where the container device 50 is located at the stopping position.

[0060] As shown in Figure 6, the container 52 is a rectangular box-shaped container made of steel plate, aluminum alloy material, or the like, with an opening on the top. The container 52 includes a side wall 52a, a bottom 52b, and beams 52c. The side wall 52a is a rectangular cylindrical member that forms the side of the container 52. The side wall 52a includes four side plates 52a1. Fruit is loaded into the container 52 through the upper opening of the side wall 52a.

[0061] The beam portion 52c connects a pair of opposing side plates 52a1 out of the four side plates 52a1. A connecting shaft 58 is connected to the beam portion 52c. The connecting shaft 58 connects the beam portion 52c of the container 52 and the moving mechanism 54.

[0062] The bottom 52b is a plate-like member that forms the bottom surface of the container 52. The bottom 52b closes the lower opening of the side wall 52a. The bottom 52b includes a pair of bottom plates 52b1. The pair of bottom plates 52b1 are provided on a pair of side plates 52a1 that are parallel to the beam 52c. The edges of the pair of bottom plates 52b1 are connected to the edges of the pair of side plates 52a1 via hinges 57. This allows the pair of bottom plates 52b1 to be opened and closed around the hinges 57, as indicated by the two-dot chain lines in FIG. 6 . When the pair of bottom plates 52b1 are in a closed state, the tips of the pair of bottom plates 52b1 abut against the beam 52c.

[0063] By opening and closing the bottom 52b, fruit loaded in the container 52 can be transported downward. The container device 50 includes a transport mechanism 60 that transports fruit downward. The transport mechanism 60 includes a locking device 60a and a closing device 60b. The locking device 60a is provided on the beam 52c. The locking device 60a holds or releases the tip ends of the pair of bottom plates 52b1 in the closed state. When the locking device 60a is in the holding state, the bottom 52b is in the closed state, and fruit is loaded in the container 52. When the locking device 60a switches from the holding state to the release state, the bottom 52b changes from the closed state to the open state due to the weight of the fruit, and the fruit falls downward. In this way, the locking device 60a of the transport mechanism 60 opens the bottom 52b of the container 52, thereby transporting the fruit in the container 52 downward.

[0064] The closing device 60b has the function of rotating the bottom portion 52b from an open state to a closed state. The closing device 60b includes a link mechanism, an actuator, etc. for rotating the bottom portion 52b (the pair of bottom plates 52b1). After transferring the fruit in the container 52 downward, the closing device 60b closes the bottom portion 52b. Thereafter, the locking device 60a enters a holding state. This empties the container 52, making it possible to load fruit again.

[0065] 6, the tank 47 has a receiving port 47a for receiving fruit. The receiving port 47a is provided on the upper surface of the tank 47. Therefore, the receiving port 47a can receive fruit that falls from above.

[0066] 6 , when the container device 50 is in the stopped position, if the locking device 60a is switched from the holding state to the released state, the fruit in the container 52 falls downward. The fallen fruit is received by the receiving port 47a of the tank 47. In this manner, in this embodiment, the container device 50 includes the transfer mechanism 60 that causes the fruit to fall downward, and the tank 47 includes the receiving port 47a, so that the fruit (harvested products) loaded in the container device 50 in the stopped position can be transferred to the tank 47.

[0067] According to the above configuration, the container device 50 suspended from the rail 8 can move along the rail 8 to a stopping position at the edge of the rail unit 7, so that the fruit can be transported to the outer edge of the field F without having to secure space for a vehicle such as a tractor to travel in the field F. As a result, the fruit can be transported appropriately. In this way, the agricultural work system 1, comprising the rail unit 7 and the container device 50, constitutes a harvest product transport system.

[0068] As shown in Fig. 6, the container device 50 also includes a measuring unit 62 and a detecting unit 64. The measuring unit 62 has a function of measuring the amount of fruit loaded in the container 52. The measuring unit 62 measures, for example, the weight of the entire container 52. By measuring the gravity of the entire container 52, the weight of the fruit loaded in the container 52 is measured as the load amount. Note that the load amount measured by the measuring unit 62 may be the volume occupied by the fruit in the container 52. The detecting unit 64 has a function of detecting the condition of the fruit loaded in the container 52. The condition detected by the detecting unit 64 includes, for example, the sugar content, acidity, and moisture content of the fruit.

[0069] [Functional Configuration of the Control Device 4 and the Container Device 50] Fig. 7 is a block diagram showing an example of the functional configuration of the control device 4 and the container device 50. 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.

[0070] 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.

[0071] The control device 4 includes a processing unit 4 a, a storage unit 4 b, and an input / output unit 4 c. 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.

[0072] The memory unit 4b is, for example, a flash memory, a hard disk, a read-only memory (ROM), a random access memory (RAM), etc. The memory 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 memory unit 4b. The processing unit 4a has functions of controlling the environment detection unit 14, the camera 16, the work unit 10 (agricultural work device 22), the container device 50, etc., and performing quality control of the crops C in the field F, causing the work unit 10 to perform agricultural work, and causing the container device 50 to transport fruit.

[0073] The processing unit 4a also has the function of executing processing to detect the positions of the multiple work units 10 and the multiple container devices 50. The processing unit 4a communicates via wireless LAN with the work units 10 and the container devices 50 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 work units 10 and the container devices 50. The processing unit 4a detects the positions of the work units 10 and the container devices 50 based on the information about the received signals acquired from the multiple access points 18. The information about the received signals includes a received signal strength indicator (RSSI) and channel state information (CSI).

[0074] The multiple access points 18 are provided at predetermined intervals throughout the entire field F. In other words, the positions of the multiple access points 18 are known. Therefore, by analyzing information related to the signals received at the multiple access points 18, it is possible to detect the positions of the operation unit 10 and the container device 50, which are the signal sources. The processing unit 4a detects the position of each of the multiple operation units 10. The detected positions of the operation unit 10 and the container device 50 are used to control the operation unit 10 and the container device 50. Furthermore, the positions of the operation unit 10 and the container device 50 may be provided to the operation unit 10 and the container device 50.

[0075] In this embodiment, since a solar panel 2 is provided above the work unit 10, it may be difficult to detect its position using a GPS receiver. In contrast, in this embodiment, the positions of the work unit 10 and the container device 50 are detected using multiple access points 18, so the positions of the work unit 10 and the container device 50 can be detected with high accuracy even if a solar panel 2 is provided above.

[0076] The positions of the operational unit 10 and the container device 50 may be detected by distance measurement using laser light or by distance measurement using a stereo camera. In these distance measurement methods, the position of the operational unit 10 (container device 50) is detected by measuring the distance between the operational unit 10 (container device 50) and a reference position.

[0077] The processing unit 4 a can also detect the position of a worker working in the field F based on image data from multiple cameras 16 .

[0078] The input / output unit 4c has a function of receiving input from an operator of the control device 4 and a function of outputting various information. The input / output unit 4c includes input devices such as a keyboard, a mouse, and a touch panel, and output devices such as a monitor, a speaker, and a printer.

[0079] The container device 50 includes the above-described moving mechanism 54, transfer mechanism 60, measurement unit 62, and detection unit 64, as well as a control device 46, a storage battery 45, and a wireless communication device 43. The control device 46, storage battery 45, and wireless communication device 43 are housed in a control box 56. The control device 46 has a function of controlling the moving mechanism 54 and the transfer mechanism 60.

[0080] The storage battery 45 supplies power to each part of the container device 50. The wireless communication device 43 is used for wireless communication with the control device 4. The wireless communication device 43 has a function of performing wireless LAN communication with a plurality of access points 18.

[0081] The control device 46 is a computer. The moving mechanism 54, the transport mechanism 60, the measuring unit 62, the detecting unit 64, and the wireless communication device 43 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.

[0082] 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.

[0083] 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.

[0084] The processing unit 46a has a function of controlling the pair of motors 44 of the movement mechanism 54 to move the container device 50 to any position within the rail unit 7. The processing unit 46a also has a function of controlling the transfer mechanism 60 to transfer the fruit in the container 52 to the tank 47. Based on a mode set for the processing unit 46a, the processing unit 46a moves the container device 50 to a predetermined position within the rail unit 7 and controls the transfer mechanism 60 to transfer the fruit in the container 52.

[0085] Furthermore, when the processing unit 46a receives the output of the measuring unit 62 and the output of the detecting unit 64, it performs processing to provide these outputs to the control device 4. When the output of the measuring unit 62 and the output of the detecting unit 64 are provided, the processing unit 4a of the control device 4 outputs the load amount obtained from the output of the measuring unit 62 and the state of the fruit obtained from the output of the detecting unit 64 using the output device of the input / output unit 4c. The control device 4 can notify the operator of the load amount and state of the fruit in the container 52. This makes it possible to recognize the load amount of the container device 50 and the state of the fruit in the container device 50 from outside.

[0086] Furthermore, the processing unit 46a acquires the amount of stored power in the storage battery 45, and when the amount of stored power becomes smaller than a predetermined amount, moves the container apparatus 50 to a charging station. The charging station (not shown) is provided within the movement range of the container apparatus 50. The container apparatus 50 located at the charging station can have the storage battery 45 charged. In this way, the processing unit 46a can charge the storage battery 45 by moving the container apparatus 50 to the charging station.

[0087] In addition to the above-described agricultural work implement 22 and moving mechanism 24, the work unit 10 is also equipped with a control device, a storage battery, and a wireless communication device, similar to the container apparatus 50. The control device of the work unit 10 controls the agricultural work implement 22 and moving mechanism 24 based on control commands from the control device 4. The control device of the work unit 10 may also autonomously control the agricultural work implement 22 and moving mechanism 24.

[0088] [Regarding movement control of the container apparatus 50] The movement control of the container apparatus 50 includes multiple modes. The processing unit 46a of the control device 46 controls the movement of the container apparatus 50 based on a selected mode from the multiple modes. This movement control is executed when the work unit 10 (agricultural work device 22) performs harvesting work on the crops C. The container apparatus 50 performs fruit transport work in conjunction with the harvesting work. The container apparatus 50 moves based on the movement control during the transport work.

[0089] 8 is a diagram showing an example of a mode related to movement control of the container device 50 executed by the control device 46. The mode related to movement control of the container device 50 includes three modes: a first following mode, a second following mode, and an external control mode. The mode may be selected by the control device 46 or by an operator of the control device 46.

[0090] The first following mode is a mode in which the container device 50 moves to follow the work unit 10 (agricultural work device 22). When the first following mode is selected, the processing unit 46a moves to follow the work unit 10 at a fixed distance. This allows the work unit 10 to load harvested fruit into the container 52 of the container device 50.

[0091] The processing unit 46a moves the container device 50 to a stop position when the load weight detected by the measurement unit 62 satisfies a predetermined condition. In this embodiment, the predetermined condition is that the load weight exceeds a preset threshold. When the load weight exceeds the preset threshold, the processing unit 46a moves the container device 50 to a stop position and transfers the loaded fruit to the tank 47. In other words, in the first follow-up mode, the container device 50 can be moved to a stop position when the load weight reaches a certain level or more.

[0092] In this case, the processing unit 46a autonomously controls the movement of the container device 50. The processing unit 46a requests the control device 4 for position information of the plurality of work units 10 and position information of the plurality of container devices 50. The processing unit 46a controls the movement based on the position information provided by the control device 4.

[0093] The second following mode is a mode in which the container device 50 moves following the worker in the field F. When the second following mode is selected, the processing unit 46a moves following the worker at a fixed distance. This allows the worker to load harvested fruit into the container 52 of the container device 50.

[0094] Also in the second follow-up mode, when the load amount detected by the measuring unit 62 satisfies a predetermined condition, the processing unit 46a moves the container device 50 to the stopping position and transfers the loaded fruit to the tank 47. Therefore, even in the second follow-up mode, when the load amount reaches a certain level or more, the container device 50 can be moved to the stopping position.

[0095] As in the first following mode, the processing unit 46a autonomously controls the movement of the container device 50. The processing unit 46a requests the control device 4 for position information of the worker, position information of the multiple work units 10, and position information of the multiple container devices 50. The processing unit 46a controls the movement based on the position information provided by the control device 4.

[0096] In this way, in the first following mode and the second following mode, even when the work unit 10 (agricultural work device 22) and the worker are moving around the field F while performing harvesting work, the work unit 10 and the worker can load fruit into the container device 50.

[0097] The external control mode is a mode in which the control device 4 controls the container device 50. When the external control mode is selected, the processing unit 46a controls the movement of the container device 50 based on commands given from the control device 4. In the external control mode, the load amount in the container 52 may be managed by the control device 4. When the load amount satisfies a predetermined condition, the control device 4 moves the container device 50 to a stopping position and transfers the loaded fruit to the tank 47. Note that in the external control mode, the system may be configured so that an operator gives commands to the processing unit 46a using a controller or the like.

[0098] In this embodiment, the tank 47 is provided below the stopping position, but as shown in Fig. 9, a transport vehicle R for transporting fruit may be parked below the stopping position. A stopping position for the transport vehicle R is provided below the stopping position of the container device 50. Fig. 9 shows a case where the container device 50 is located at the stopping position and the transport vehicle R is located at the stopping position.

[0099] The transport vehicle R is, for example, an unmanned transport vehicle such as an AGV (Automatic Guided Vehicle). In this case, the transport vehicle R parked at the parking position is equipped with a transport container 70. The transport container 70 has a receiving opening 70a for receiving fruit. The receiving opening 70a is provided on the top surface of the transport container 70. Therefore, the receiving opening 70a can receive fruit falling from above.

[0100] When the container device 50 stops at the stop position and the transport vehicle R stops at the stop position, the transport vehicle R is parked below the container device 50, as shown in Fig. 9. Here, the container device 50 drops the fruit in the container 52 downward, and transfers the fruit from the container 52 to the transport vehicle R. Therefore, according to the modified example shown in Fig. 13, the fruit can be transferred to the transport vehicle R and transported by the transport vehicle R.

[0101] [Regarding Other Embodiments] Fig. 10 is a diagram showing the main parts of a container device 50 according to another embodiment. Fig. 10 shows a cross-sectional view of a container 52. This embodiment differs from the above-described embodiment in that it includes a connecting portion 59 that releasably connects the container 52 and the moving mechanism 54, that the connecting shaft 58 is extendable and retractable, and that a transport vehicle R is configured to stop below the stopping position instead of the tank 47.

[0102] 10 shows a case where the container device 50 is located at a stop position and the transport vehicle R is located at a parking position. Therefore, a parking position for the transport vehicle R is provided below the parking position of the container device 50.

[0103] The side wall 52a and bottom 52b of the container 52 in this embodiment are integral. A protrusion 52d that is gripped by a connecting portion 59 is provided on the upper surface of the beam 52c. The connecting portion 59 is provided at the tip of the connecting shaft 58. The connecting portion 59 has a chuck function that grips the protrusion 52d. The connecting portion 59 includes an actuator (not shown) that drives the gripping and release of the protrusion 52d. Therefore, the operation of the connecting portion 59 is controlled by controlling the actuator. The connecting portion 59 releasably connects the container 52 and the moving mechanism 54 by gripping and releasing the grip of the protrusion 52d.

[0104] The connecting shaft 58 has an inner cylindrical portion 58a and an outer cylindrical portion 58b. The inner cylindrical portion 58a is inserted into the outer cylindrical portion 58b. The inner cylindrical portion 58a and the outer cylindrical portion 58b are capable of relative movement in the axial direction. The connecting shaft 58 is equipped with an actuator (not shown) that drives the relative movement between the inner cylindrical portion 58a and the outer cylindrical portion 58b. The connecting shaft 58 is driven by the actuator to extend and retract. The extension and retraction movement of the connecting shaft 58 is controlled by controlling the actuator.

[0105] The actuator of the connecting part 59 and the actuator of the connecting shaft 58 can be controlled by the processing unit 46a of the control device 46. Therefore, the operation control of the connecting part 59 and the operation control of the connecting shaft 58 are performed by the processing unit 46a. The transport vehicle R is an unmanned guided vehicle. The top surface of the transport vehicle R is provided with a top plate Ru on which a container 52 is mounted. The transport vehicle R is controlled by the control device 4. Therefore, the control device 4 has position information of the transport vehicle R.

[0106] FIG. 11 is a diagram showing a mode in which a plurality of transport vehicles R transport and exchange containers 52. FIG. 11 illustrates a case in which a first transport vehicle R1 and a second transport vehicle R2 are used. As shown in (a) of FIG. 11, the first transport vehicle R1 and the second transport vehicle R2 travel in a line, one behind the other. The first transport vehicle R1 does not carry a container 52. The second transport vehicle R2, which is located behind the first transport vehicle R1, carries an empty container 52. In (a) of FIG. 11, the container device 50 is located at a stop position, and the first transport vehicle R1 is also located at a stop position.

[0107] When the container device 50 stops at the stopping position and the first transport vehicle R1 also stops at the stopping position, the connecting shaft 58 is extended to lower the container 52, as shown in FIG. 11(b). When the container 52 then reaches the top plate Ru of the transport vehicle R, the container device 50 releases the connection (grasp) of the connecting part 59. As a result, the container 52 loaded with fruit is detached from the moving mechanism 54 and placed on the top plate Ru. The container 52 is transported by the transport vehicle R.

[0108] When the container device 50 detaches the container 52, it shortens the connecting shaft 58. Thereafter, the first transport vehicle R1 moves with the container 52 loaded with fruit on board and moves away from the parking position. After the first transport vehicle R1 moves away from the parking position, the second transport vehicle R2 then moves to the parking position and stops. As shown in (c) in Figure 11, when the second transport vehicle R2 stops at the parking position, the container device 50 extends the connecting shaft 58, grasps the empty container 52 loaded on the second transport vehicle R2, and connects the empty container 52 to the moving mechanism 54.

[0109] As described above, the first transport vehicle R1 receives the container 52 that has been uncoupled from the container device 50 when it stops at the stopping position and moves, and the second transport vehicle R2 stops at the stopping position after the first transport vehicle R1 has moved, and when the second transport vehicle R2 stops at the stopping position, the empty container 52 is coupled to the moving mechanism 54 by the coupling part 59. In this case, the container device 50 can detach the container 52 loaded with fruit and then couple the empty container 52, making it possible to load fruit again.

[0110] Fig. 12 is a diagram showing the main parts of a container device 50 according to a modification of the other embodiment. Fig. 12 shows a cross-sectional view of a container 52. This modification differs from the other embodiment in that the connecting shaft 58 does not extend or contract, and the top plate Ru of the transport vehicle R can be raised and lowered in the vertical direction.

[0111] As shown in FIG. 12 , the transport vehicle R is equipped with a lifting mechanism Re that raises and lowers the top plate Ru. The lifting mechanism Re includes a link mechanism RL and an actuator Ra. The link mechanism RL is provided between the top plate Ru and the upper surface of the body of the transport vehicle R. The link mechanism RL is configured to be extendable and retractable in the vertical direction. The actuator Ra is provided at the base end of the link mechanism RL and drives the extension and retraction movement of the link mechanism RL. The actuator Ra can be controlled by a control device of the transport vehicle R. Therefore, the operation of the lifting mechanism Re is controlled by the control device of the transport vehicle R. The operation of the lifting mechanism Re can also be controlled by a control device 4 that controls the transport vehicle R. In this case, the top plate Ru can be raised, and then a container 52 loaded with fruit can be placed on the top plate Ru.

[0112] [Others] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. For example, the above embodiment illustrates a case in which 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. Furthermore, the above embodiment illustrates a case in which the agricultural work system 1 includes the solar power generation panel 2, but the system does not necessarily need to include the solar power generation panel 2.

[0113] In addition, in the above embodiment, the fruit of the crop C cultivated in the field F is grapes, but this is not limited to this, and other fruit trees, vegetables, etc. may also be cultivated as the crop C.

[0114] 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.

[0115] 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.

[0116] 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 4c Input / output unit 6 Frame 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 20a Base 20b Support unit 20c Actuator 22 Agricultural work device 24 Moving mechanism 26 Control box 30 Arm 30a Joint 32 End effector 32a End effector 40 Main body 42 Wheel 43 Wireless communication device 44 Motor 45 Storage battery 46 Control device 46a Processing unit 46b Memory unit 47 Tank 47a Receiving port 48 Pomace storage tank 49 Juice storage tank 50 Container device 52 Container 52a Side wall 52a1 Side plate 52b Bottom 52b1 Bottom plate 52c Beam 52d Projection 54 Moving mechanism 56 Control box 57 Hinge 58 Connecting shaft 58a Inner cylinder 58b Outer cylinder 59 Connecting portion 60 Transfer mechanism 60a Locking device 60b Closing device 62 Measuring unit 64 Detection unit 70 Transport container 70a Receiving port 100 Photovoltaic power generation mechanism C Crop F Field P1 Position P2 Position P3 Position R Transport vehicle R1 First transport vehicle R2 Second transport vehicle RL Link mechanism Ra Actuator Re Lifting mechanism Ru Top plate

Claims

1. A conveying system for harvested products, comprising: a rail network including a plurality of rails provided above a field for cultivating crops; and a container device suspended from the plurality of rails and movable along the plurality of rails from a harvesting position where harvested products obtained by harvesting the crops are loaded to a predetermined stop position located at an edge of the rail network.

2. The conveying system for harvested products according to claim 1, wherein the container device comprises: a measuring unit configured to measure a loading amount of the harvested products to be loaded; and a moving mechanism configured to move the harvested products toward the stop position when the loading amount satisfies a predetermined condition.

3. The conveying system for harvested products according to claim 1 or 2, further comprising a tank disposed below the predetermined stop position for storing the harvested products, wherein the container device comprises: a container in which the harvested products are loaded; and a transfer mechanism configured to drop the harvested products downward by opening and closing a bottom of the container, and the tank comprises a receiving port for receiving the harvested products dropped from the container.

4. The conveying system for harvested products according to claim 1, further comprising one or more harvested product transport vehicles that can be parked at a parking position provided below the predetermined stop position, wherein the one or more harvested product transport vehicles comprise a top plate on which the container for loading the harvested products of the container device is mounted.

5. The conveying system for harvested products according to claim 4, wherein the container device comprises: a moving mechanism configured to move the container along the rails; and a connecting portion configured to detachably connect the container and the moving mechanism, and when the container is located at the predetermined stop position and the one or more harvested product transport vehicles are located at the parking position, the connection by the connecting portion is released.

6. The conveying system for harvested products according to claim 5, wherein the container device comprises an extendable connecting shaft provided between the connecting portion and the moving mechanism.

7. The conveying system for harvested products according to claim 5, wherein the one or more harvested product transport trolleys further comprise a lifting mechanism configured to raise and lower the top plate.

8. The plurality of harvested crop transport vehicles include a first harvested crop transport vehicle on which the container is not mounted and a second harvested crop transport vehicle on which the empty container is mounted. The first harvested crop transport vehicle receives the container whose connection has been released from the container device when parked at the parking position and moves. The second harvested crop transport vehicle parks at the parking position after the first harvested crop transport vehicle has moved. When the second harvested crop transport vehicle parks at the parking position, the empty container is connected to the moving mechanism by the connecting portion. The harvested crop transport system according to any one of claims 5 to 7.

9. The harvested crop transport system according to claim 1, further comprising a harvested crop transport vehicle that can park at a parking position provided below the predetermined stop position. The container device includes a transfer mechanism that drops the harvested crop downward by opening and closing the bottom of the container for loading the harvested crop that the container device has. The harvested crop transport vehicle includes a transport container having a receiving port for receiving the harvested crop that falls from the container.

10. The harvested crop transport system according to claim 2, further comprising an agricultural work device that moves along the plurality of rails. The moving mechanism follows the agricultural work device until the amount of the harvested crop satisfies a predetermined condition.

11. The harvested crop transport system according to any one of claims 1 to 10, wherein the container device includes a measuring unit that measures the loading amount of the harvested crop to be loaded, and further includes an output unit that outputs the loading amount to the outside.

12. The harvested crop transport system according to claim 11, wherein the container device further includes a detection unit that detects the state of the harvested crop, and the output unit outputs the state together with the loading amount.

13. A container device that is suspended from a plurality of rails that are provided above a field for cultivating crops and constitute a rail network and moves along the plurality of rails, the container device including: a container in which the harvested crop obtained by harvesting the crops is loaded; a moving mechanism that moves the container along the rails; a measuring unit that measures the loading amount of the harvested crop loaded in the container; and a control unit that controls the moving mechanism so as to move and stop the container to a predetermined stop position located at the edge of the rail network when the loading amount satisfies a predetermined condition.

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