NL1043685B1

NL1043685B1 - Harvest robot system

Info

Publication number: NL1043685B1
Application number: NL1043685A
Authority: NL
Inventors: Kanata Yoshio; Toshima Ryou; Moriyama Toshiki
Original assignee: Panasonic Ip Man Co Ltd
Priority date: 2019-06-13
Filing date: 2020-06-10
Publication date: 2022-03-18
Also published as: JP2020201882A; NL1043685A; JP7308482B2

Abstract

A harvest robot system includes a harvest robot, a collection robot, and a server. The server of the harvest robot system includes a determiner and a first transceiver. The determiner determines a placement position at which the harvest robot places the storage basket and a collection route in which the collection robot collects the storage basket placed at the placement position by the harvest robot and transports the storage basket to the collection station. The first transceiver transmits first collection instruction information including information on the placement position to the harvest robot and transmits second collection instruction information including information on the route to the collection robot.

Description

ref: P 2020 NL 006 TITLE: HARVEST ROBOT SYSTEM

1. Technical Field

[0001] The present disclosure relates to a harvest robot system that automatically harvests fruits such as tomatoes and apples, and also automatically collects fruits.

2. Description of the Related Art

[9002] As a future social issue in the Japanese society, there is concern that the aging population will reduce the production population. In particular, regarding the primary industry, agriculture, the environment surrounding Japan is particularly remarkable for aging, and the situation is extremely severe in terms of labor shortage. According to the Ministry of Agriculture, Forestry and Fisheries basic data, there were 1.68 million major farmers in 2014, a decrease of about 230,000 in five years. Further, the number of new farmers is on the decline, and the average age of major farmers is 66.5, a figure that highlights the labor shortage due fo aging. As a result, abandoned cultivated land reaches 400,000 hectares, which has a bad influence on the local farming environment and living environment. Especially in rural areas where there are many cultivated lands, depopulation due to declining birthrate and aging is progressing, and this problem is becoming more apparent because there is no farmer.

[0003] Under such circumstances, there is an increasing expectation that the automation of agriculture will address the labor shortage. According to the Ministry of Economy, Trade and industry's “2012 Robot Industry Market Trends”, the domestic market for agricultural-related robots is expected to grow significantly between 2018 and 2024, and is expected to reach about 220 billion yen. In fact, developments that lead to automation of agriculture, such as management using drones, automatic driving of tractors, and systems navigating cultivation, are also becoming active. Further, the Ministry of Agriculture, Forestry and Fisheries has enhanced the subsidy system to support the automation of agriculture, and the expectations of this field from the government are very high.

[0004] In the meantime, research on the technology for automation of harvesting has also been advanced in companies and universities in related art, and many harvest robots that automatically harvest various fruits, fruity vegetables, and fruits and vegetables have been proposed. However, there are few proposals regarding a harvest robot system including a harvested object collection that efficiently transports a target object harvested by the harvest robot to a collection station using a distribution system. That is, in most of the proposed harvest robots, the storage basket storing the target object is manually collected. However, in order to further reduce labor in the harvest work, it is necessary to construct a harvest robot system that takes into account not only automation of the harvest work itself but also automation of the harvested object collection. Further, since the form of the harvest robot changes depending on the harvested object collection system, it is necessary to consider the harvest robot and the collection and distribution system as an integrated system.

[0005] Under such circumstances, as a harvest robot system in related art that automatically performs storage basket collection, there is a system in which two collection robots follow one harvest robot and the collection robot alternately transports the storage basket to the collection station (For example, see Japanese Patent Unexamined Publication No. 2017-87404). The harvest robot system described in Japanese Patent Unexamined Publication No. 2017-87404 stores a target object harvested by the harvest robot in a storage basket provided in the collection robot following the harvest robot, and the collection robot leaves the harvest robot and heads to the collection station when the storage basket is full and collects the goods. Head to the station. In the meantime, the harvest robot stores the harvest target object in the storage basket of another collection robot positioned on an opposite side of the sandwiched harvest robot in the front and rear direction of the ridge road, so that the harvest work of the harvest robot is continuously performed without interruption.

SUMMARY

[0006] In the configuration in related art, two collection robots are required for one harvest robot, Accordingly, the harvest robot system has a problem that the cost effectiveness is low. In addition, two collection robots are disposed on a narrow ridge road that cannot be passed each other with the harvest robot sandwiched, and go from the ridge road to the collection station, respectively, so that there is a problem that there is a need for passages that lead to the collection station at both ends of the ridge road, respectively for an applicable farm. By the way, from the viewpoint of area productivity, many farms have a dead end at one end of the ridge | road.

{00071 An object of the present disclosure is to solve a problem in related art and to provide a harvest robot system that is highly applicable to a farm form.

[0008] A harvest robot system according to the present disclosure includes a harvest robot configured to harvest a target object and put the target object into a storage basket in a farm, a collection robot that collects the storage basket in which the target object is stored and transports the storage basket to a collection station, and a server configured to communicate with the harvest robot and the collection robot. The server of the harvest robot system includes a determiner and a first transceiver. The determiner determines: a placement position at which the harvest robot places the storage basket; and a collection route in which the collection robot collects the storage basket placed at the placement position by the harvest robot and transports the storage basket to the collection station, based on farm map information that defines a harvest target area in the farm, a fravelable area, and a position of the collection station, current position information of the harvest robot, and current position information of the collection robot when the storage basket carried by the harvest robot is recognized as full or when the harvest robot completed a harvest as instructed. The first transceiver transmits first collection instruction information including information on the placement position to the harvest robot, and transmits second collection instruction information including information on the collection route to the collection robot.

[0008] According to the harvest robot system of the present disclosure, it can be applied to various farm forms.

BRIEF DESCRIPTION OF THE DRAWINGS

[0010] FIG. 1 is an overall system configuration diagram of a harvest robot system according to an exemplary embodiment; FIG. 2 is a block diagram of a server according to the exemplary embodiment; FIG. 3 is a configuration diagram of a harvest robot in the exemplary embodiment; FIG. 4 is a configuration diagram of a collection robot in the exemplary embodiment; FIG. 5 is a block diagram of a collection station according to the exemplary embodiment; FIG. 6 is a block diagram of a home station according to the exemplary embodiment;

FIG. 7 is a schematic layout diagram of an entire farm according to the exemplary embodiment; and FIG. 8 is a basic operation flow diagram of harvesting, collecting, and supplying a storage basket in the exemplary embodiment.

DETAILED DESCRIPTION

[0011] Hereinafter, an exemplary embodiment of the present disclosure will be described with reference to the drawings.

EXEMPLARY EMBODIMENT

[0012] FIG. 1is an overall system configuration diagram of a harvest robot system according to an exemplary embodiment of the present disclosure.

[0013] In FIG. 1, server 101 is connected to harvest robot 102, collection robot 103, collection station 104, home station 105, input/output unit 107, and internet 109 by wire or wireless, and is organically related to constitute the harvest robot system. At home station 105, harvest robot 102 and collection robot 103 stand by. Using input/output unit 107, operator 106 inputs and outputs a harvest condition or the like. Internet 109 allows connection to a server of another farm 108. Here, harvest robot 102 and collection robot 103 may be plural.

[6014] FIG. 2 is a block diagram of server 101.

[0015] As illustrated in FIG, 2, server 101 includes first transcelver 201, inputfoutput portion 202, determiner 203, and mass storage device 204.

First transceiver 201 transmitsireceives information to/from harvest robot 102 and collection robot 103 via a wireless local area network (LAN) or the like, input/output portion 202 inputs/outputs information to/from collection station 104, home station 105, input/output unit 107, and server of another farm 108 via Internet 109 by wire of wireless, Determiner 203 determines a harvest target area, determines a collection order and a collection route of the stored storage basket, and determines an empty storage basket supply dispatch schedule, based on image data with a map address and a harvest condition. Mass storage device 204 can store a large amount of information including image data with a map address.

[0016] FIG. 3 is a configuration diagram of harvest robot 102 according to the exemplary embodiment of the present disclosure.

[0917] As illustrated in FIG, 3, harvest robot 102 includes imaging portion 301, first self-position measurer 302, second transceiver 303, harvester 304, first lifter mechanism 305, and third lifter mechanism 309, and self-propelled carriage portion 308. Imaging portion 301 images a harvest target object and a storage basket with a camera.

5 First self-position measurer 302 specifies a self-position by global positioning system (GPS), a laser radar, a white line marker, landscape recognition collation, or the like.

Second transceiver 303 sends information including image data with a map address to a server via a wireless LAN or the like, and receives instruction information from the server.

Harvester 304 collects target object 306 with a manipulator and stores it in storage basket 307.

First lifter mechanism 305 grips and lifts lowermost storage basket 307 of stacked storage baskets 307 placed on the ground.

Third lifter mechanism 309 sequentially grips, lifts, and separates empty storage baskets 307 above the second level from the bottom of stacked storage baskets 307, Self-propelled carriage portion 308 is equipped with all of the above- described apparatuses and can automatically travel along ridge road 705 and main passage 703 illustrated in FIG. 7.

[0018] Imaging portion 301 is preferably a stereo camera. A normal two- dimensional area camera may be used as long as it is used only for acquiring image data with a map address for determining a harvest target area. However, in the exemplary embodiment of the present disclosure, imaging portion 301 is also used for the harvest work and picking up storage basket 307. Information on a distance to target object 306 is required for harvesting, and information on a distance to storage basket 307 is required to pick up storage basket 307. When a normal two- dimensional area camera is used, it is preferable to separately provide a distance measuring device such as a laser sensor.

[0019] The form of harvester 304 differs depending on the type of the target object to be harvested. In related art, various harvest robots, harvesting manipulators, and harvesting hands have been proposed, and a detailed description thereof will be omitted. In FIG. 3, the manipulator for collecting target object 306 is configured to store target object 306 in storage basket 307 as it is, but it may be divided into the manipulator for collecting target object 306 and a storage mechanism for storing target object 306 in storage basket 307. In that case, harvester 304 is formed by combining the collecting manipulator and the storage mechanism.

[0020] Storage basket 307 is a box of a so-called container type, which is made of, for example, plastic and can be stacked with the target object stored in the box.

[0021] Further, self-propelled carriage portion 308 is generally called an automatic guided vehicle (AGV), and a detailed description thereof will be omitted.

Although FIG, 3 illustrates an example in which the vehicle travels on wheels, a crawler or the like may be employed corresponding to the characteristics of the farm.

[0022] FIG. 4 is a configuration diagram of collection robot 103 according to the exemplary embodiment of the present disclosure.

[0023] As illustrated in FIG. 4, collection robot 103 includes second lifter mechanism 401, second self-position measurer 402, third transceiver 403, and self- propelied carriage portion 404.

Second lifter mechanism 401 has the same function as first lifter mechanism

305.

Second self-position measurer 402 has the same function as first self- position measurer 302.

Third transceiver 403 has the same function as second transceiver 303. Self-propelled carriage portion 404 is equipped with all of the above- described apparatuses, and can automatically travel along main passage 703 illustrated in FIG. 7.

[0024] FIG. 5 is a block diagram of collection station 104 according to the exemplary embodiment of the present disclosure,

[0025] As illustrated in FIG. 5, collection station 104 includes harvested storage basket stock portion 501 and empty storage basket stock portion 502.

Harvested storage basket stock portion 501 receives a plurality of harvested storage baskets 307 from collection robot 103 and can stock them, for example, on a roller conveyor.

Empty storage basket stock portion 502 can stock a plurality of empty storage baskets 307 on, for example, a roller conveyor, and can deliver empty storage basket 307 to collection robot 103 at a request from server 101 or collection robot 103.

[0026] Collection station 104 further includes a fourth transceiver {not illustrated) that transmits the empty space information of harvested storage basket stock portion 501 to server 101, and transmits the stock information including a stock amount of the empty storage basket existing in empty storage basket stock portion 502 to server 101.

[0027] FIG. 6 is a block diagram of home station 105 according to the exemplary embodiment of the present disclosure.

[0028] Home station 105 is a location in which the harvest robot 102 or collection robot 103 is moored when the harvest work or the collection work is not petformed, and a plurality of parking spaces are prepared.

[00298] As illustrated in FIG. 8, home station 105 includes tool change $ portion 801 and charging portion 602.

Tool change portion 601 replaces a tool at a tip of the manipulator for harvesting in harvester 304 of harvest robot 102, with a tool used for harvesting another type of a target object or for other work.

Charging portion 802 charges a driving rechargeable battery of harvest robot 102 or collection robot 103.

[0030] FIG. 7 is a schematic layout diagram of the entire representative farm according to the exemplary embodiment of the present disclosure. in FIG. 7, the same components as those in FIGS. 1 and 5 are denoted by the same reference numerals, and description thereof will be omitted.

[9031] As illustrated in FIG, 7, the farm is roughly constituted with cultivation yard 701 for cultivating crops and sorting shipping yard 702 for sorting and bagging the harvested crops for shipment. Cultivation yard 701 may be an open field or a greenhouse such as a vinyl house. Further, cultivation yard 701 and sorting shipping vard 702 may be directly linked or may be linked by a passage.

[0032] In a center of cultivation yard 701, there is a relatively wide main passage 703 through which harvest robot 102 and collection robot 103 travel. Main passage 703 is directly linked to sorting shipping yard 702. On both sides of main passage 703, several ridges 704 for cultivating agricultural products such as tomatoes and strawberries are vertically disposed, respectively. Ridge 704 may be a ridge with literally raised soil, a cultivation box for elevated cultivation found in Dutch Venlo-type facility cultivation, or a row of standing fruit trees. The area in which target object 306 to be harvested and cultivated on ridge 704 is present is the harvest area. There is a ridge road 705 between ridges 704, so that harvest robot 102 can pass through. Harvest robot 102 can harvest target object 306 from ridges 704 on both sides. Ridge road 705 may be on the soil surface or, in the case of a greenhouse, a hot water pipe may be laid. When a hot water pipe is laid, the harvest robot 102 can use the hot water pipe as a track for traveling on a ridge road. As illustrated in FIG. 7, an end of ridge road 705 opposite to main passage 703 may be a dead end. After harvesting, harvest robot 102 turns back ridge road 705, brings down harvested storage basket 307 once exiting main passage 703, and heads for next ridge road 705. At this time, the efficiency of harvest robot 102 is high when, for example, the outward path is for the harvest of right ridge 704 and the return path is for the harvest of left ridge 704. Note that many farms have a dead end on a side opposite to the ridge road as illustrated in FIG. 7. This is to increase the area productivity of cultivation yard 701.

[0033] Storage basket 307 storing target object 308 or empty storage basket 307 is temporarily placed at a position at which it does not interfere with other work of main passage 703, for example, at a ridge end on the side of main passage 703.

[0034] Harvested storage basket 307 temporarily placed by harvest robot 102 beside main passage 703 is collected by collection robot 103, transported to harvested storage basket stock portion 501 of collection station 104, and stocked. Harvested storage basket stock portion 501 stocks storage basket 307 and transports storage basket 307 to vicinity of sorting bagging worker 706 by, for example, a roller conveyor. There is de-stacking unit 708 on the way, and stacked storage baskets 307 are separated here one by one and transported to sorting bagging worker 706.

[0035] Sorting bagging worker 706 takes out target object 306 from storage basket 307, sorts it, stores it in a bag according to a predetermined procedure, and place it on shipping conveyor 707. The bag containing the harvested object is transported to the next processing on a conveyor, after which the bag is packed in a box and shipped.

[0036] On the other hand, empty storage basket 307 is placed on a conveyor linked to empty storage basket stock portion 502 by sorting bagging worker

706. Empty storage basket 307 is transported to empty storage basket stock portion 502 by a conveyor. There is stacking unit 709 on the way, and here, empty storage baskets 307 are stacked in a predetermined number of trays and then transported to empty storage basket stock portion 502 to be stocked. Thereafter, in response to a request from server 101, empty storage basket 307 is transported to cultivation yard 701 by collection robot 103, and is placed at a specified location beside main passage 703. Harvest robot 102 picks up placed empty storage basket 307 and heads for harvesting. In this way, the circulation distribution system of storage basket 307 functions.

[0037] Server 101 and input/output unit 107 are installed at an appropriate location in the farm,

[9038] Home station 105 is installed in space close to main passage 703 and can moor a plurality of harvest robots 102 or collection robots 103. The tool is changed, and the rechargeable battery is charged at the moored location.

[0039] Since a plurality of harvest robots 102 and collection robots 103 move back and forth in main passage 703, a basic traveling route and a traveling rule in main passage 703 may be determined. For example, main passage 703 is divided into two lanes, which limit the traveling directions, respectively. That is, the outward path and the return path are completely separated so that passing each other can always be done. The basic traveling route of collection robot 103 may be turned back at an end of main passage 703, and in sorting shipping yard 702, sequentially link main passage 703, harvested storage basket stock portion 501, empty storage basket stock portion 502, and main passage 703 to form a closed loop. The plurality of collection robots 103 circulate in one direction along the closed loop, The traveling route may be displayed by a white line, may be an attached magnetic tape, or may be defined by the farm map information.

[0040] Collection robot 103, which has completed the installation of empty storage basket 307 and the collection of harvested storage basket 307 in a location near sorting shipping yard 702, does not trace the closed loop to the end and makes a shortcut to head toward collection station 104. This route instruction is also issued from server 101.

[0041] The form of the farm is not limited to the form illustrated in FIG. 7. A form may be such that there is main passage 703 in which collection robot 103 can go to collection station 104 and harvest robot 102 come out of the ridge road after finishing harvest at the ridge to main passage 703, as long as there is a contact point that can be shared by harvest robot 102 and collection robot 103 on main passage

703.

[0042] Further, the form of harvested storage basket stock portion 501 and empty storage basket stock portion 502 of collection station 104 is a roller conveyor, but is not limited to the form. For example, the form may be a simple partitioned space in which only storage basket 307 is placed. In that case, sorting bagging worker 706 goes to the space to take the storage basket, and after the work is completed, returns to the empty storage basket stock space. Collection robot 103 measures a position of an empty storage basket in a predetermined space by using, for example, an imaging device, and picks up the storage basket with second lifter mechanism 401.

[0043] Further, in the exemplary embodiment of FIG. 7, the sorting and shipping work is performed by the worker, but may be an automatic sorting bagging apparatus, In addition, for some fruits, the sorting shipping work has been automated. In addition to the present exemplary embodiment, an automatic sorting bagging apparatus and an automatic boxing apparatus may be introduced and coupled to server 101 as a shipping system, and server 101 may manage a shipping plan in addition to a harvest plan and a collection plan. In this way, an automatic harvest shipping system can be constructed, and the unmanned series of harvest work further progresses.

[0944] Further, when the worker is working only in the daytime and on the other hand, harvest robot 102 and collection robot 103 operate day and night, a shift difference occurs, so that harvested storage basket stock portion 501 and empty storage basket stock portion 502 requires a conveyor length that can store the number of storage baskets that can absorb the shift difference. Further, a large number of storage baskets 307 are required. As described above, when all the work including the sorting shipping are automated, the shift difference is eliminated, and the operation can be performed with a shorter conveyor length and the short number of storage baskets.

{0045] An operation example of the harvest robot system configured as described above will be described with reference to FIG. 8.

[0046] FIG. 8is a basic operation flow diagram of harvesting, collecting, and supplying an empty storage basket according to the exemplary embodiment of the present disclosure.

[0047] As illustrated in FIG. 8, first, server 101 receives an input of a harvest condition (51). The harvest condition is input to input/output portion 202 by operator 106 operating input/output unit 107. The harvest condition input by operator 106 is information to be given in advance for determiner 203 to determine a harvest target area. The harvest condition is, for example, a farm map information necessary for harvest robot 102 to automatically travel to photograph or harvest target object 306, a harvest determination criterion including a threshold value to determines whether target object 306 imaged by harvest robot 102 should be harvested or not, a harvest robot specification including the number of harvest robots 102 and harvest ability, or the like. The farm map information basically defines a harvest target area, a travelable area, and a position of collection station 104 in the farm.

[0048] Next, determiner 203 determines a route to be imaged by harvest robot 102 based on the farm map information or the like (82). Next, server 101 outputs imaging instruction information including the imaging route to harvest robot 102 through first transceiver 201.

[0049] Harvest robot 102, which has received the imaging instruction information through the second transceiver 303, images target object 306 in the farm using imaging portion 301 while moving on self-propelled carriage portion 308 according to the instruction (R1). The self-position of harvest robot 102 at the time of imaging is acquired by first self-position measurer 302. The self-position may be farm coordinate data or an address code defined in a farm map. When imaging portion 301 is not a fixed camera but a camera that can be freely turned, image data with a map address includes the self-position in the farm and the posture information ofthe camera. Harvest robot 102 transmits the acquired image data with a map address to server 101 via second transceiver 303.

[0050] Determiner 203 of server 101, which has received the image data with a map address in the farm from harvest robot 102 in first transceiver 201, determines that a harvest target area is an area in which the most efficient, that is,

the most mature target object based on the previously input harvest condition is in a large amount (53). Specifically, the number of ridge road 705 facing the determined harvest target area is allocated to each harvest robot 102 in consideration of the harvest ability of harvest robot 102. Basically, one harvest robot 102 is assigned fo one ridge road 705. It is a principle that only one harvest robot 102 is allowed to enter one ridge road 705 at a certain moment. Harvest robot 102 may be assigned to a plurality of ridge road 705, All ridges 704 on both sides of ridge road 705 may be the harvest target area, or only one portion of ridge 704 on one side may be the harvest target area. These are the harvest instruction information.

[0051] First transceiver 201 of server 101 transmits the harvest instruction information including the harvest target area to harvest robot 102.

[0082] In the present exemplary embodiment, as described above, determiner 203 of server 101 determines the harvest target area to be harvested by harvest robot 102 based on the image data with a map address of the harvested object and the harvest condition. However, operator 106 may visually check the growth state of the harvest target object of in the farm, may determine the harvest target area based on the experience in related art, and may directly input the number and the harvest tract of ridge road 705, as the harvest instruction information, to be harvested by each harvest robot 102 through input/output unit 107.

[0053] Harvest robot 102 enters specified ridge road 705 by self-propelled carriage portion 308 based on the harvest instruction information received by second transceiver 303, makes full use of harvester 304 to harvest target object 308 in the harvest target area, and store it in storage basket 307 (R2). It is assumed that harvest robot 102 has first lifter mechanism 305 gripping lowermost storage basket 307 of empty storage baskets 307 stacked in advance, This inherits a state of RS described later. When harvest robot 102 receives the harvest instruction information, third lifter mechanism 309 grips and lifts storage basket 307 at the second level from the bottom in the state. Then, space is formed above lowermost storage basket 307. Using the space, harvester 304 stores target object 306 in lowermost storage basket

307. When lowermost storage basket 307 is full, third lifter mechanism 309 descends, releases the grip of storage basket 307 at the second level from the bottom after all storage baskets 307 are once stacked, ascends only by one height of storage basket 307, and grips storage basket 307 at the third level from the bottom and ascends. As a result, harvester 304 resumes the harvest operation using the space formed above storage basket 307 at the second level from the bottom, and contains target object 306 in storage basket 307 at the second level from the bottom. FIG. 3 illustrates the state at this time. Hersinafter, this operation is repeated, and harvest robot 102, in which all placed storage baskets 307 are full or the harvesting of the planned harvest target area is completed, transmits harvest status information including a harvest completion signal and current position information from second transceiver 303 to server 101.

[00584] Server 101, which has received the harvest status information including the harvest completion signal from first transceiver 201, sets new harvest instruction information to harvest robot 102 to head to the next harvest target area when there is still empty space in placed storage basket 307. When all placed storage baskets 307 are full, information for collecting the storage basket is collected {84}. The collection condition necessary for planning the collection of harvested storage basket 307 has been input to input/output portion 202 by operator 106 through input/output unit 107 in advance. The collection condition is farm map information including a position of collection station 104, and is a collection robot specification including the number, travel speeds, or the like of collection robots 103 being operated. Server 101 obtains empty space information of harvested storage basket stock portion 501 from collection station 104 via input/output portion 202, and checks whether collection station 104 has room to accept harvested storage basket

307. However, harvesied storage basket stock portion 501 is designed so that there is always enough space, and if collection robot 103 can wait for loading and unloading of harvested storage basket 307 in front of collection station 104, the empty space information is not necessary.

[0055] Next, server 101 transmits a request signal to collection robot 103 from first transceiver 201 to understand the state of collection robot 103.

[00561 Collection robot 103, which has received the request signal at third transceiver 403, measures a self-position by second self-position measurer 402, and fransmits its self-position data, whether a storage basket is currently loaded, currently-performed work content, and loading status information from third transceiver 403 to server 101 (K1). Hers, the work content is, for example, whether charging is done at home station 105. The loading status information is information such as whether the harvest is completed or empty and which storage basket 307 is on the way heading to somewhere.

[0057] In this way, server 101, which has obtained all the information necessary for the collection work of harvested storage basket 307, allows determiner 203, based on the information, to determine which position harvest robot 102 that has completed the harvest work brings down collected storage basket 307 at, and which collection robot 103 decides which route to go to collect storage basket 307 placed by harvest robot 102 and which route to go to collection station 104 (S55). These are collection instruction information, and first transceiver 201 outputs the information to harvest robot 102.

[0058] Harvest robot 102, which has received the collection instruction information from server 101 at second transceiver 303, moves, by self-propelled carriage portion 308, to the position instructed by the collection instruction information, and upon arrival, lowers first lifter mechanism 305 to bring down harvested storage basket 307 to the ground (R3). Harvest robot 102 transmits information about bringing down storage basket 307 (harvest status information including a completion signal and current position information) from second transceiver 303 to server 101. Then, server 101 sends collection instruction information from first transceiver 201 to collection robot 103 (86). Based on the collection instruction information received by third transceiver 403, collection robot 103 heads to the instructed location by self-propelled carriage portion 404, and picks up harvested storage basket 307 placed on the ground by raising second lifter mechanism 401 (K2).

[0059] Here, the collection instruction information transmitted to harvest robot 102 and the collection instruction information transmitted to collection robot 103 are described as one collection instruction information. However, these may be separate information (for example, first collection instruction information and second collection instruction information). That is, the collection instruction information transmitted to harvest robot 102 may include information on a placement position at which the full storage basket is placed {first collection instruction information). Further, the collection instruction information transmitted to collection robot 103 may include information on a collection route for collecting the storage basket placed by harvest robot 102 and transporting the basket to collection station 104 (second collection instruction information).

[0060] Thereafter, collection robot 103 moves to collection station 104 through the route instructed by server 101 by self-propelled carriage portion 404 (K3), and brings down storage basket 307 in harvested storage basket stock portion 501 of collection station 104 by lowering second lifter mechanism 401 (K4).

[0061] Next, third transceiver 403 of collection robot 103 transmits the loading status information including the completion signal and the current position information to server 101. Server 101, which has received the loading status information including the completion signal, or the like of collection robot 103 by first transceiver 201, obtains stock information of empty storage basket stock portion 502 of collection station 104 (87). At this time, when there is a sufficient storage basket distribution amount and a sufficient empty storage basket stock capacity and there is no stock, obtaining the stock information can be omitted when it is acceptable to allow collection robot 103 to be in a standby stale in front of collection station 104.

[00682] When there is a stock of empty storage baskets, determiner 203 determines an empty storage basket supply dispatch schedule for loading empty storage basket 307 and directing where collection robot 103 heads to (88). These are the storage basket supply instruction information, and server 101 transmits the storage basket supply instruction information from first transceiver 201 to collection robot 103. Collection robot 103, which has received the storage basket supply instruction information at third transceiver 403, goes to empty storage basket stock portion 502 of collection station 104 by self-propelled carriage portion 404, and lifts and places empty storage basket 307 by second lifter mechanism 401 {K5).

[0063] Thereafter, collection robot 103 moves to the location instructed by server 101 by self-propelled carriage portion 404, and upon arrival, second lifter mechanism 401 descends, and empty storage basket 307 is brought down (K6). Collection robot 103 transmits the loading status information including the completion signal and the current position information from third transceiver 403 to server 101.

[0064] Server 101, which has received the loading status information including the completion signal and the current position information at first transceiver 201, transmits the storage basket supply instruction information to harvest robot 102 by first transceiver 201 (89).

[0065] Harvest robot 102, which has received the storage basket supply instruction information al second transceiver 303, moves to the specified location by self-propelled carriage portion 308, and lifts and hold empty storage basket 307 placed on the ground by first lifter mechanism 305 (R4). Harvest robot 102 waits until receiving the next instruction from server 101 (R58). This state is a state at the time of imaging the harvest area of R1 or immediately before shifting to the harvesting/storage operation of R2. Thereafter, this is repeated.

[6066] The above operation flow is a basic pattern, and in practice, a plurality of harvest robots 102 and a plurality of collection robots 103 operate in a complex manner according to a harvesting state, and are operated to run efficiently as a whole, [00671 For example, in the operation flow diagram of FIG. 8, the operations of one harvest robot 102 and one collection robot 103 are separated into a harvest basic flow, a collection basic flow, and an empty storage basket supply basic flow for easy understanding. However, in practice, they may be operated integrally. That is, by constantly understanding states of the plurality of harvest robots 102 and collection robots 103 one by one, server 101 determines a harvest target area, determines a collection order and a collection route, and performs an empty storage basket supply dispatch schedule, simultaneously. For example, when a point at which the harvested storage basket 307 is to be collected at an arbitrary point in time is relatively close to a point at which empty storage basket 307 is to be supplied, collection robot 103 supplies empty storage basket 307 on an outward path from collection station 104 and collects harvested storage basket 307 on a return path to collection station 104, so that collection robot 103 hardly has a section in which i travels with an empty load, and a wasteful waiting time does not occur for collection robot 103. Similarly, after bringing down harvested storage basket 307, when harvest robot 102 immediately goes to a nearby empty storage basket placement point, picks up storage basket 307, enters into ridge road 705 of the next harvest target area specified by server 101, and starts the harvest work, unnecessary waiting time is not generated also in harvest robot 102.

[0068] There is no pairing relationship between harvest robot 102 and collection robot 103, and since storage basket 307 is once placed on the ground, harvest robot 102 and collection robot 103 do not have to synchronize the delivery operation of storage basket 307. Furthermore, there may be a considerable time lag from the placement of harvested storage basket 307 of harvest robot 102 to the pick- up by collection robot 103, so that server 101 can develop such efficient operation programming. As a result, a minimum number of collection robots 103 can be operated with respect to the number of harvest robots 102. Basically, a harvest span of harvest robot 102 from the start of harvest to the completion of the harvest is long, and on the other hand, a collection supply span of collection robot 103 from the collection of harvested storage basket 307 to the installation of empty storage basket 307 is short.

[0069] In the present harvest robot system, a harvest plan, a collection plan, and the storage basket supply plan are optimally programmed by server 101 so that harvest robot 102 and collection robot 103 do not wait. A game theory, a queuing theory, or the like may be applied to the process.

[0070] Further, a harvest schedule may be programmed by applying Al or the like and making some predictions in advance. However, fruits are not uniformly produced as in the case of industrial products, and vary greatly depending on the weather and other factors. At first, a prediction may be made, but as the prediction is wrong, a feedback mechanism that constantly changes the program on the fly with the latest information is necessary.

[0071] Further, as illustrated in FIG. 3, harvest robot 102 may have a third lifter mechanism 309. By third lifter mechanism 309, a plurality of storage baskets 307 can be placed on harvest robot 102, and more harvested objects can be stored at one time.

That is, harvest robot 102 may include first lifter mechanism 305 and third lifter mechanism 308 that grip the plurality of storage baskets 307 in a vertically stacked manner.

First lifter mechanism 305 grips the first storage basket located below, in which the target object is stored, among the plurality of storage baskets 307.

Third lifter mechanism 309 grips the empty second storage basket located above the plurality of storage baskets 307.

When the first storage basket is full, the second storage basket is shifted from the gripped state by third lifter mechanism 309 to the gripped state by first lifter mechanism 305. With this configuration, the collection lot size of collection robot 103 S increases, and the collection frequency of storage basket 307 of collection robot 103 decreases. That is, the number of necessary harvest robots 102 decreases. Preferably, the stock amount is larger than the yield per one ridge road 705.

[9072] In this case, a position at which storage basket 307 stacked to correspond to ridge road 705 one by one is to be placed, can be determined in advance. Further, instead of placing storage basket 307 directly on the ground, a dedicated storage basket placement table that is fixedly installed may be provided. The storage basket placement table that is fixedly installed can reliably and easily deliver storage basket 307 to and from each robot. In either case, when it is determined that empty storage basket 307 exists in that location in a steady state, it is easy to manage and more efficient operation can be performed. That is, as soon as a harvest target area, that is, ridge 704 is determined, harvest robot 102 picks up empty storage basket 307 at a position corresponding to ridge 704, enters ridge road 705, and performs harvesting. When finishing the harvesting, harvest robot 102 places harvested storage basket 307 at the same original position. Further, after sending the harvest completion signal to server 101, harvest robot 102 receives a new harvest instruction immediately from accompanying server 101, and heads to the next harvest target area and to a location at which empty storage basket 307 that is paired with the next harvest target area is placed. Collection robot 103 places empty storage basket 307 at a nearby fixed position at which harvested storage basket 307 has been collected and becomes empty, and receives a collection instruction from server 101 on its return path and picks up harvested storage basket

307. After issuing a collection signal to server 101, it goes to collection station 104. Thereafter, this is repeated.

[0073] As a mechanism in which harvest robot 102 is placed with a plurality of storage baskets 307 and sequentially each storage baskets 307 is stored, a structure is exemplified such that as illustrated in FIG. 3, first lifter mechanism 305 and third lifter mechanism 309 are vertically disposed in the same axis, and third lifter mechanism 309 sequentially stores the harvest target object using the gap generated by lifting remaining empty storage basket 307. However, the present disclosure is not limited to this, In short, any structure may be used as long as a plurality of storage baskets 307 can be placed, target object 306 can be stored, and storage baskets 307 stacked from the ground or a fixed table can be loaded or unloaded.

[0074] Further, storage baskets 307 may not be stacked and may be only one, in which case third lifter mechanism 309 is unnecessary, However, since the harvest span is shortened, the collection efficiency is deteriorated, and the number of necessary collection robots 103 is increased. Of course, when the ridge length is short and the harvest target object is a small fruit such as a cherry fruit, one storage basket can be used for one ridge road, so this is not the case.

[6075] A harvest robot system is also conceivable in which a collection robot enters the ridge road and receives the harvested storage basket directly from the harvest robot. However, the collection robot needs to match the delivery timing with the harvest robot, and the operation efficiency of the collection robot is significantly reduced. In order for the collection robot to rush immediately when requested by the harvest robot, one collection robot is required for one harvest robot. That is, when the collection robot is engaged in the collection work of another harvest robot, the harvest robot must suspend the harvest work until the end. In addition, since the harvest work time of the harvest robot varies greatly depending on the situation at each time, it is not possible for each robot to synchronize and perform the work mechanically according to a predetermined schedule as in a factory.

[0076] In order to avoid the above situation, if the harvest robot releases the harvested storage basket in the middle of the ridge, and then the collection robot goes fo collect, due to the ridge road being one narrow road, not only the released storage basket on the ground interferes with other work, but also the harvest robot cannot receive a new empty storage basket until the released storage basket is collected, so that the harvest work cannot be continued after all. Accordingly, the harvest robot system of the present disclosure is the most optimal system.

Effect

[0077] As described above, in the harvest robot system according to the above-described exemplary embodiment, harvest robot 102 performs harvesting while holding the plurality of storage baskets 307, and when full, storage basket 307 is brought down to main passage 703 near the ridge road. Storage basket 307 is collected by collection robot 103, transported to collection station 104, placed with empty storage basket 307, and brought down on main passage 703 at the end of the ridge road. Harvest robot 102 picks it up and proceeds to the next harvest.

[0078] Accordingly, one collection robot 103 can cover a plurality of harvest robots 102, and a cost-effective harvest robot system can be constructed.

[9079] Further, since server 101 manages all harvest robots 102 and collection robots 103 in an integrated manner, pairing is not required, and a step is entered in which storage basket 307 is not directly delivered and is temporarily placed on the ground of main passage 703, which that is not interrupted by other work. Accordingly, there may be a time lag in delivery, and there is no need to synchronize the movements of harvest robot 102 and collection robot 103. As a result, a cost-effective harvest robot system can be constructed. Specifically, a system that is completed with a minimum number of collection robots can be built.

[0080] For example, in a large-scale farm, only two collection robots 103 can be operated for 20 harvest robots 102. In addition, the harvest robot system of Japanese Patent Unexamined Publication No. 2017-87404 in related art requires 40 collection robots in that case.

[00811 Further, since empty storage basket 307 can be supplied by the same system, a circulating distribution system of storage basket 307 can be constructed more efficiently.

[0082] With such a harvest robot system, it is possible to realize efficient automation of the harvesting work of the farm including not only the harvesting but also the collection of the harvested object.

[0083] Further, only one harvest robot 102 enters one ridge road. Accordingly, the ridge road end may be a dead end, and the area productivity of the farm can be increased accordingly.

[0084] In the harvest robot system of the present disclosure, a collection robot efficiently supplies an empty storage basket from a collection station to a harvest robot. The harvest robot performs a harvest work in a wide harvest area, and stores the harvested object in the storage basket. The collection robot collects the storage basket and transports it to the collection station. The harvest robot system of the present disclosure has such a circulation-type harvest distribution system function, and can not only automate the harvest work of the farm, but also, for example, be applied to automation of a factory that organically combines an assembly process yard and a warehouse yard of industrial products.

Claims

CONCLUSIESCONCLUSIONS

1. Oogstrobotsysteem omvattende: gen oogstrobat die is geconfigureerd voor het oogsten van een doelobject en het plaatsen van het doelobject in een opslagmand op een boerderij; ean verzamelrobot die de opslagmand waarin het doelobiect is opgeslagen 3 verzamelt en de opslagmand transporteert naar een verzamelstation: en een server die is geconfigureerd voor het communiceren met de oogstrobot en de verzamelrobat, waarbij de server omvat: een bepaler die bepaalt: 16 1} een plaatsingspositie waarop de oogstrobot de opslagmand plaatst; en 2} esn verzamslroute waarin de verzamelrobot de opslagmand verzamelt die door de oogstrobot op de plaatsingspositie is geplaalst en de opslagmand naar het verzamelstation fransportaert, op basis van a) boerderijkaartinformatie die een oogstdoelgebied op de boerderij, een begaanbaar gebied en een positie van het verzamelstation definieert, b} huidige positie-informatie van de oogstrobot, en c} huidige positie-informatie van de verzamelrobot wanneer de opslagmand die wordt gedragen door de cogstrohot wordt herkend als vol of wanneer de oogstrobot een oogst heeft afgerond zoals geïnstruserd; en een eerste zendontvanger voor het naar de vogstrobot zenden van eerste verzamelinstructie-informatis omvatiende informatie over de plaatsingspositie, en het zenden van tweede verzamelinstructie-informatie omvattende informatie over de verzameloute naar de verzamelrobot, en waarbij de verzamelrobot omvat: een tweede hefmechanisme dat de opslagmand van de grond heft en vastgrijpt, en de opslagmand neerlaat op het verzamelstation op basis van de tweede verzamelinstructie-informatie van de server; een tweede zelfpositiemeter die aen huidige positie van de verzamelrabot meet; en een derde zendontvanger die de huidige positie-informatie van de verzamelrobot naar de server zendt,A harvesting robotic system comprising: a harvesting robot configured to harvest a target object and place the target object in a storage basket on a farm; a collection robot that collects the storage basket in which the target object is stored and transports the storage basket to a collection station: and a server configured to communicate with the harvesting robot and the collection robot, the server comprising: a determiner that determines: 16 1} a placement position at which the harvesting robot places the storage basket; and 2} esn collection route in which the collecting robot collects the storage basket placed by the harvesting robot at the placement position and the storage basket to the collecting station fransportaert, based on a) farm map information indicating a harvest target area on the farm, a passable area and a position of the collecting station b} defines current position information of the harvesting robot, and c} current position information of the collecting robot when the storage basket carried by the cogtrohot is recognized as full or when the harvesting robot has completed a harvest as instructed; and a first transceiver for sending to the collecting robot first collecting instruction information including information about the placement position, and sending second collecting instruction information including information about the collection route to the collecting robot, and wherein the collecting robot comprises: a second lifting mechanism that holds the storage basket lifting and grasping from the ground, and lowering the storage basket onto the collecting station based on the second collecting instruction information from the server; a second self-position meter that measures a current position of the collecting robot; and a third transceiver that transmits the current position information of the collecting robot to the server,

2. Oogstrobotsysteem volgens conclusie 1,Harvesting robotic system according to claim 1,

waarbij de bepaler de plaatsingspositie en de verzamsiroute bepaalt op basis van of een huidige opslagmand in de verzamelrobot wordt geplaatst en plaatsingsstatusinformatie die werkinhoud definieert die op dat moment wordt uitgevoerd. $wherein the determiner determines the placement position and collection route based on whether a current storage basket is placed in the collection robot and placement status information defining work content currently being performed. †

3. Qogstrobotaysteem volgens conclusie 1 of 2, waarbij de bepaler bepaalt of de opslagmand vol is op basis van oogsistatusinformatie die vrije ruimte in de van de cogstrobot ontvangen opslagmand definieert.The harvesting robot system of claim 1 or 2, wherein the determiner determines whether the storage basket is full based on harvest status information defining free space in the storage basket received from the harvesting robot.

4. Oogstrobotsysteem volgens sen der conclusies 1 tot en met 3, waarbij de bepaler die plaatsingspositie en de verzamelroute bepaalt op basis van reisspecificatie van de oogstrobot, reisspecificatie van de verzamelrobot, en informatie met betrekking tot sen ontvangbars hoeveelheid van de opslagmand op het verzamelstation.A harvesting robot system according to any one of claims 1 to 3, wherein the determiner determines said placement position and the collection route based on travel specification of the harvesting robot, travel specification of the collection robot, and information regarding a receiving amount of the storage basket at the collection station.

5. Oogstrobotsysteem volgens een der conclusies 1 tot en met 4, waarbij de oogstrobot omvat: sen vogsier die het doelobject oogst en het doelobject opslaat in de opslagmand; sen eerste hefmechanisme dat de vastgegrepen opslagmand neerlaal naar de grond op basis van de eerste verzamelinstructie-informatie van de server; een eerste zelfpositiemeter die een huidige positie van de cogstrobot mest; en sen weeds zendontvanger die de huidige positie-informatie van de vogstrobot naar de server zendt. 8, Oogstrobotsysteem volgens conclusie 1 of 5, waarbij de bepaler sen lege opslagmandivevoerroute bepaalt waarin de verzamelrobot een lege mand op het verzamsistation plaatst en de lege opslagmand transporteert naar een vooraf bepaalde positie in het oogstdoelgsbied, op basis van ds boerderijkaartinformatie, de huidige positie-informatie van de cogstrobot, en de huidige positie-informatie van de verzamelrobot, en de eerste zendontvanger opslagmandtosvosrinstructis-informatie met betrekking tot de lege opslagmandtoevoerroute zendt naar ds vogstrobot en de verzamelrobot.The harvesting robot system of any one of claims 1 to 4, wherein the harvesting robot comprises: sen vogsier harvesting the target object and storing the target object in the storage basket; a first lifting mechanism that lowers the gripped storage basket to the ground based on the first collecting instruction information from the server; a first self-position meter measuring a current position of the cogst robot; and a second transceiver that transmits the current position information of the tracking robot to the server. Harvesting robot system according to claim 1 or 5, wherein the determiner determines an empty storage basket feeding route wherein the collecting robot places an empty basket at the collection station and transports the empty storage basket to a predetermined position in the harvest target area, based on the farm map information, the current position information of the cogst robot, and the current position information of the collection robot, and the first transceiver transmits storage basket toss instruction information regarding the empty storage basket supply route to the vogst robot and the collection robot.

7. Oogstrobotsysteem volgens conclusie 6,Harvesting robotic system according to claim 6,

waarbij de cogstrobot de door de verzamslrobot getransporteerde en op de grond geplaatste lege opslagmand heft en vastgrijpt door het bedienen van sen aerste hefmechanisme op basis van de opslagmandtoevoerinstructie-informatie van de server.wherein the collecting robot lifts and grabs the empty storage basket transported by the collection robot and placed on the ground by operating a first lifting mechanism based on the storage basket supply instruction information from the server.

8. Oogstrobotsysteem volgens conclusie 6 of 7, waarbij de verzamelrobot de op het verzamelstation geplaatste lege opslagmand heft en vastgrijpt door het bedienen van sen tweede hafmechanisme op basis van de opslagmandtoevoerinstuctis-informatie van de server.The harvesting robot system of claim 6 or 7, wherein the collecting robot lifts and grabs the empty storage basket placed on the collecting station by operating a second lifting mechanism based on the storage basket supply information from the server.

9. Qogstroboisysteem volgens een der conclusies 1 tot en met 8, waarbij de oogstrobot een is van een veelvoud aan oogstrobots.The harvesting stroboi system according to any one of claims 1 to 8, wherein the harvesting robot is one of a plurality of harvesting robots.

10. Oogstrobotsysteem volgens een der conclusies 1 tot en met 8, waarbij de oogstrobot een veelvoud aan de opslagmanden omvat, en is veconfigureerd om het veelvoud aan opslagmanden sen voor sen te scheiden en te plaatsen.The harvesting robot system according to any of claims 1 to 8, wherein the harvesting robot comprises a plurality of the storage baskets, and is configured to separate and place the plurality of storage baskets one by one.

11, Oogstrobotsysteem volgens conclusie 10, waarbij de oogstrobot een serste hefmechanisme en een derde hefmechanisme omvat die het veelvoud aan opslagmanden heffen om verticaal te worden gestapeld, en het eerste hefmechanisme een eerste opslagmand vastgrijpt waarin het doelobject is opgeslagen die is gepositioneerd onder het veelvoud aan opslagmanden, het derde hefmechanisme sen lege tweede opslagmand vastgrijpt die is gepositioneerd boven het vealvoud aan opslagmanden, en wanneer de gerste opslagmand vol is, de tweede opslagmand wordt verplaatst van een vastgegrepen toestand door het derde hefmechanisme naar een vastgegrepen toestand door het eerste hefmechanisme.The harvesting robot system of claim 10, wherein the harvesting robot comprises a first lifting mechanism and a third lifting mechanism that lift the plurality of storage baskets to be vertically stacked, and the first lifting mechanism grips a first storage basket storing the target object positioned among the plurality of storage baskets, the third lifting mechanism grips an empty second storage basket positioned above the plurality of storage baskets, and when the barley storage basket is full, the second storage basket is moved from a gripped state by the third lifting mechanism to a gripped state by the first lifting mechanism.