Air Vehicle Systems

Abstract

This flying body system comprises a flying body (1) that can execute predetermined work, and an energy supply body (2) that can supply energy to the flying body (1).

Description

[Technical Field]

[0001] The present invention relates to air vehicle systems. [Background technology]

[0002] In recent years, there has been a growing interest in using drones and other flying objects to improve the efficiency of agricultural work. Patent Document 1 discloses, as an example of agricultural work, a support device for an flying object equipped with a spraying device for spraying pesticides and the like.

[0003] The aircraft support device described in Patent Document 1 includes a position information acquisition unit that acquires the aircraft's position, a spraying information acquisition unit that acquires spraying information, and a display unit that displays the area of ​​the field and its surroundings. This display unit displays the aircraft's movement trajectory and the spraying range sprayed by the spraying device, thereby facilitating work management. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2020 / 137242 Summary of the Invention [Problem to be solved by the invention]

[0005] Although the aircraft support device described in Patent Document 1 facilitates work management, there are concerns about the insufficient capacity of the batteries installed in the aircraft in the case of large farm fields. While it would be possible to use a large aircraft equipped with a large-capacity battery, there would be areas that cannot be worked with such a large aircraft, reducing work efficiency.

[0006] Therefore, there is a demand for an aircraft system that can improve work efficiency. [Means for solving the problem]

[0007] One aspect of the aircraft system according to the present invention is A connecting mechanism formed by a frame body, and a plurality of connecting members connected to the frame bodyAircraft and a connection mechanism coupled to the frame body; a working unit connected to the connection mechanism; and an energy source provided on the frame body and supplying energy to the flying object. The point is that it has the following features.

[0008] The aircraft system according to this configuration includes an aircraft that performs a specific task, such as spraying pesticides, and an energy supplier that supplies energy to the aircraft. In other words, the aircraft is dedicated to the task, and the energy supplier functions as an energy supplier to the aircraft.

[0009] This prevents the flying object from running out of energy, which can cause interruptions to work or lead to uneven work, thereby providing a flying object system that can improve work efficiency. Furthermore, if an energy source is installed in the linking mechanism that connects multiple flying vehicles, energy can be efficiently supplied to the multiple flying vehicles.

[0010] The energy supplier may also be an energy source flying vehicle equipped with an energy source capable of supplying energy to the flying vehicle.

[0011] Providing an energy source flying vehicle in this manner increases maneuverability and improves work efficiency.

[0012] The energy source flying object may also be any one of the plurality of flying objects.

[0013] In this way, by sharing energy among multiple aircraft, there is no need to detach an aircraft that is running out of energy.

[0014] The energy source aircraft may also be a support aircraft capable of flying in support of the aircraft.

[0015] In this way, if the aircraft is dedicated to work and the energy source aircraft (support aircraft) functions as a support for the aircraft, the aircraft can be made smaller and the energy source aircraft (support aircraft) can be made larger. This allows the aircraft to work in narrow spaces where it is difficult to work with a normal aircraft. It also makes it possible to change the number of aircraft depending on the work location.

[0016] The device may also include an energy control unit that controls the operation of the energy source aircraft, and the energy control unit may switch the energy source aircraft when the stored amount of the energy source falls below a predetermined value.

[0017] In this way, if the energy source vehicle is replaced with a new energy source vehicle when the remaining energy level of the energy source vehicle becomes low, there is no need to stop work in order to supply energy.

[0018] The energy source aircraft may also be capable of performing the predetermined task or a task different from the predetermined task.

[0019] In this way, work efficiency can be improved by dividing the tasks into those suitable for small flying vehicles and those suitable for large energy source flying vehicles.

[0020] The energy supplier may also be a mobile energy supply vehicle.

[0021] By supplying energy to the flying object from the energy supply vehicle in this way, there is no risk of energy shortage.

[0022] The energy supplier may be a movable working device.

[0023] In this way, it is efficient to configure the energy supplier as a work device such as a material transport vehicle.

[0024] The system may also include a connecting flying object that connects the energy supplier and the flying object by wire.

[0025] By providing a connecting aircraft in this manner, it is possible to prevent the cable from getting caught on an interfering object.

[0026] The connecting aircraft may also be supplied with energy from the energy supplier.

[0027] In this way, it is rational to supply energy to the connecting aircraft from the energy supplier.

[0028] The system may also include a connection control unit that controls the flight position of the connecting aircraft based on the relative positions of the flying body and the energy supplier and the position of an artificial object.

[0029] By providing a linkage control unit in this way, it is possible to set a flight route that bypasses obstacles.

[0030]

[0031]

[0032] The flying body may also have a flying body that obtains energy to fly, a working unit that performs the specified task, and a connection mechanism that connects the flying body and the working unit, and the energy supply body may be the working unit or the connection mechanism equipped with an energy source that supplies energy to the flying body.

[0033] In this way, by mounting the energy source on the working unit or the connecting mechanism, the center of gravity is lowered and work efficiency is improved.

[0034] The connection mechanism may also have a buoyancy portion that can lift the working portion.

[0035] In this way, by providing a buoyancy section in the connection mechanism, the buoyancy of the flying body can be assisted, making it possible to lift a heavy working part while saving the amount of energy supplied to the flying body.

[0036] The connection mechanism may also include a work energy source capable of supplying energy to the working portion.

[0037] In this way, by providing a working energy source in the connection mechanism, the supply of energy to the working unit is stabilized.

[0038] The energy supplier may be the working unit of at least one of the aircraft and may supply energy to the working units of the other aircraft.

[0039] In this way, by sharing energy between working units, interruptions to work and uneven work can be prevented.

[0040] The energy supplier may also supply energy to the flying object by contactless power supply.

[0041] In this way, by supplying energy to the flying body using non-contact power supply, it is possible to connect to the flying body wirelessly, thereby preventing the inconvenience of wires getting tangled in the flying body.

[0042] One aspect of the flying body system of the present invention is that it comprises an energy supplier that supplies energy, and a buoyant flying body that flies using buoyancy caused by thermal energy generated by the energy supplier.

[0043] As in this configuration, by utilizing the thermal energy generated by the energy supplier as buoyancy for the buoyant flying vehicle, energy can be utilized effectively.

[0044] The energy supplier may be an energy source mounted on the buoyant flying vehicle.

[0045] In this way, if an energy source is installed on a buoyant flying vehicle, it is efficient because the buoyant flying vehicle can cover all of its needs on its own.

[0046] The robot may further include a working device capable of performing a predetermined task, and the energy supplier may supply energy to the working device.

[0047] In this way, if energy is supplied to the working device from the energy supplier, there is no need to provide an energy source in the working device, which is highly convenient.

[0048] The buoyant flying vehicle may also include a working device capable of performing a predetermined task and a connection mechanism that connects the working device to the buoyant flying vehicle, and the energy supplier may be an energy source mounted on the connection mechanism.

[0049] In this way, by mounting the energy source on the working unit or the connecting mechanism, the center of gravity is lowered and work efficiency is improved.

[0050] The energy may be fuel supplied to an internal combustion engine or electricity generated by an internal combustion engine.

[0051] In this way, if the energy is provided by fuel supplied to the internal combustion engine or by electric power generated by the internal combustion engine, it is possible to supply energy stably. [Brief explanation of the drawings]

[0052] [Figure 1] FIG. 1 is a block diagram of an aircraft system according to a first embodiment. [Figure 2] 1 is a perspective view showing an overview of an aircraft system according to a first embodiment. FIG. [Figure 3] FIG. 1 is a conceptual diagram of an aircraft system according to a first embodiment. [Figure 4] FIG. 10 is a conceptual diagram showing a modified example of the flying object. [Figure 5] FIG. 10 is a block diagram of an aircraft system according to a second embodiment. [Figure 6] FIG. 10 is a perspective view of the aircraft according to the second embodiment during operation. [Figure 7] FIG. 10 is a perspective view of the aircraft according to the second embodiment in standby mode. [Figure 8] FIG. 10 is a conceptual diagram of an aircraft system according to a second embodiment. [Figure 9] FIG. 1 is a conceptual diagram showing a first modified example of the aircraft system according to the first and second embodiments. [Figure 10] FIG. 10 is a conceptual diagram showing a second modified example of the aircraft system according to the second embodiment. [Figure 11]FIG. 10 is a block diagram of an aircraft system according to a third embodiment. [Figure 12] FIG. 10 is a conceptual diagram of an aircraft system according to a third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0053] Hereinafter, an embodiment of the aircraft system according to the present invention will be described with reference to the drawings. However, the present invention is not limited to the following embodiment, and various modifications are possible without departing from the spirit of the invention.

[0054] As shown in FIGS. 1 and 5 , the aircraft system 100 includes an aircraft 1 capable of performing predetermined tasks such as agricultural work, and an energy supplier 2 capable of supplying energy to the aircraft 1. In this embodiment, the aircraft 1 is configured as a small drone. A drone is an unmanned aerial vehicle with rotors, and examples include an electric-powered type in which the rotors are rotated by power supplied from a battery or the like, an engine-driven type in which the rotors are rotated by fuel operating an internal combustion engine, an electric-powered type in which the rotors are rotated by power supplied from a generator operated by the internal combustion engine, or a hybrid type that combines these. The energy supplier 2 includes an energy source configured as a power source supplied from a battery or a generator operated by an internal combustion engine, a fuel source for operating the internal combustion engine, or the like.

[0055] The aircraft 1 is capable of performing predetermined tasks such as spraying pesticides, fertilizer, water, etc., photography, monitoring, harvesting, collection, pollination, supplying materials and energy, transporting, mowing, plowing, planting, sowing, snow removal, scaring, and measuring. In this embodiment, spraying, which is one type of agricultural work, is described as an example of the predetermined task. The energy supplier 2 is capable of performing the same predetermined task as the aircraft 1 or a different task. In this embodiment, energy supply to the aircraft 1 is described as an example of a task that complements the aircraft 1.

[0056] [First embodiment] The aircraft system 100 according to this embodiment includes an aircraft 1 (corresponding to the aircraft main body) that is powered by a battery and an energy source aircraft 2A (corresponding to the energy supplier 2, corresponding to the aircraft main body) equipped with a cassette battery that supplies power to the aircraft 1. The energy source aircraft 2A is configured as the same model as the aircraft 1 and is capable of supplying energy to multiple aircraft 1. The aircraft 1 and the energy source aircraft 2A each have multiple (three in this embodiment) rotors B, which are rotated by a driving force such as a motor (not shown) to generate lift and thrust (see also Figures 2 and 3). The aircraft 1 and the energy source aircraft 2A are connected by a connecting mechanism 3 (corresponding to the energy supplier 2). In other words, since the energy source aircraft 2A is the same model as the aircraft 1 in this embodiment, the connecting mechanism 3 connects the multiple aircraft 1 to each other.

[0057] The aircraft system 100 also includes a suspension work device 5 (corresponding to a work unit) that performs specified work, and a connection mechanism 4 (corresponding to an energy supplier 2) that connects the aircraft 1 and the energy source aircraft 2A (connection mechanism 3) to the suspension work device 5 (corresponding to an energy supplier 2).

[0058] The aircraft 1 includes a first power receiving unit 11, a first communication unit 12, a first working unit 13, a first satellite positioning device 14, a first control unit 15, and a first memory unit 16. The first control unit 15 includes a first energy control unit 15a, a first status acquisition unit 15b, a first collective flight control unit 15c, a first solo flight control unit 15d, and a first work control unit 15e.

[0059] The energy source aircraft 2A includes an energy source 21, a second communication unit 22, a second working unit 23, a second satellite positioning device 24, a second control unit 25, and a second memory unit 26. The second control unit 25 includes a second energy control unit 25a (corresponding to an energy control unit), a second status acquisition unit 25b, a second collective flight control unit 25c, a second solo flight control unit 25d, and a second work control unit 25e.

[0060] The connecting mechanism 3 is formed by a frame body 30 that connects multiple flying bodies 1 (see also Figures 2 and 3). This connecting mechanism 3 has an energy source 31 (corresponding to the energy supplier 2), a communication device 32, and a control device 33. Note that at least one of the energy source 31, the communication device 32, and the control device 33 may be omitted.

[0061] The connection mechanism 4 has the linking mechanism 3 and a plurality of wires 44 (four in this embodiment) connected to the lower part of the frame body 40 (see also Figs. 2 and 3). The connection mechanism 4 has an energy source 41 (corresponding to a work energy source), a communication device 42, and a control device 43. Note that at least one of the energy source 41, the communication device 42, and the control device 43 may be omitted.

[0062] The suspension work device 5 has a spray device 50 including a camera, a tank for storing the material to be sprayed, and a pump and nozzle for spraying the material (see also Figures 2 and 3). The suspension work device 5 has an energy source 51, a communication device 52, and a control device 53. Note that at least one of the energy source 51, the communication device 52, and the control device 53 may be omitted. The suspension work device 5 may also be composed of a heavy material storage tank for supplying the material to the first working unit 13 and the second working unit 23.

[0063] The above-mentioned first control unit 15, second control unit 25 and each functional unit of the control devices 33, 43, 53 are configured by hardware or software with a CPU at its core, or by a combination of hardware and software. The following control functions have the same configuration.

[0064] The first power receiving unit 11 of the aircraft 1 is composed of a battery storing a predetermined amount of electricity, and the amount of stored electricity is acquired by the first status acquisition unit 15b, and its own power amount is controlled by the first energy control unit 15a. The amount of stored electricity (remaining capacity) in the first power receiving unit 11 is stored in the first memory unit 16 and configured to be able to transmit it to the second communication unit 22 of the energy source aircraft 2A via the first communication unit 12. In this embodiment, the first power receiving unit 11 can exchange power with the first power receiving unit 11 of another aircraft 1 or the energy source 21 of the energy source aircraft 2A via a wire (for example, a cable built into the connecting mechanism 3), but may also use a contactless power supply method such as electromagnetic induction or magnetic field resonance.

[0065] The first communication unit 12 of the aircraft 1 is configured with a communication interface capable of wired or wireless communication with the first communication units 12 of other aircraft 1 and the second communication unit 22 of the energy source aircraft 2A. The first working unit 13 of the aircraft 1 is configured with a camera, etc. The operation of this first working unit 13 is controlled by a first work control unit 15e. The first working unit 13 may also be equipped with an energy source, a communication device, and a control device.

[0066] The first satellite positioning device 14 of the aircraft 1 receives GNSS (Global Navigation Satellite System) signals from artificial satellites, generates positioning data indicating its own position information (positioning information including latitude and longitude) based on the received signals, and transmits the data to the first status acquisition unit 15b. In other words, the first satellite positioning device 14 can detect its own position information using GNSS, which is composed of GPS, QZSS, Galileo, etc. The position information of the aircraft 1 detected by this first satellite positioning device 14 is associated with the time of detection and stored in the first memory unit 16. The position information can also be transmitted via the first communication unit 12 to the communication device 32 of the linkage mechanism 3 and the second communication unit 22 of the energy source aircraft 2A.

[0067] The first energy control unit 15a of the aircraft 1 controls the amount of energy of its own first power receiving unit 11. For example, when the amount of power stored in the first power receiving unit 11 acquired by the first status acquisition unit 15b falls below a set value (a value obtained by multiplying the power value at which the aircraft can fly by a safety factor), the first energy control unit 15a requests the energy source aircraft 2A to supply energy or requests the other aircraft 1 to lend energy. Furthermore, for example, when the amount of power stored in the first power receiving unit 11 acquired by the first status acquisition unit 15b falls below a set value, the first energy control unit 15a instructs the first solo flight control unit 15d to detach its own aircraft 1 from the group of multiple aircraft 1 and fly to a specified charging location or landing location.

[0068] The first status acquisition unit 15b of the aircraft 1 acquires the energy status (charge level, remaining capacity, etc.) of the first power receiving unit 11, its own flight status, and surrounding environmental information. In addition, the first status acquisition unit 15b acquires various statuses that affect the flight of the aircraft 1, such as altitude information of the aircraft 1 if the aircraft 1 is equipped with a barometric pressure sensor, flight attitude of the aircraft 1 if the aircraft 1 is equipped with a gyro sensor, flight speed of the aircraft 1 if the aircraft 1 is equipped with a speed sensor, and surrounding wind conditions if the aircraft 1 is equipped with a wind speed sensor or wind direction sensor.

[0069] The first group flight control unit 15c of the aircraft 1 causes the multiple aircraft 1 and the energy source aircraft 2A to fly cooperatively based on the flight plan stored in the first memory unit 16. The cooperative flight instructions generated by the first group flight control unit 15c are flight instructions for cooperatively flying the aircraft 1 and the energy source aircraft 2A belonging to the aircraft system 100. This flight instruction set is generated based on the positional relationship between the multiple aircraft 1 and the energy source aircraft 2A belonging to the aircraft system 100.

[0070] The first collective flight control unit 15c may generate a coordinated flight instruction based on at least one of a collective reference position and a collective reference direction. The collective reference position and the collective reference direction are the positions and directions that serve as references when the air vehicle 1 and the energy source air vehicle 2A belonging to the air vehicle system 100 fly cooperatively. The flight plan stored in the first memory unit 16 may include a work plan for the first working unit 13. The work plan may include the location where the first working unit 13 will perform work (e.g., the location of the field to be worked on, the location where the work will be performed in the field, etc.) and / or the work content (e.g., the operating intensity, operating time, operating interval, etc. of the work implement).

[0071] The first solo flight control unit 15d of the aircraft 1 controls its own solo flight when the aircraft 1 separates from the group of multiple aircraft 1 and energy source aircraft 2A. For example, the first solo flight control unit 15d calculates a solo flight path based on its own current position information detected by the first satellite positioning device 14 and waiting position information such as a predetermined charging location or landing location stored in the first memory unit 16, and causes the aircraft 1 to fly solo.

[0072] The first work control unit 15e of the aircraft 1 controls the operation of the hanging work device 5 and first working unit 13, which perform a predetermined task. In this embodiment, the first work control unit 15e controls the operation of the pump and nozzle that spray the spray material, as well as the operation of the camera. In carrying out this control, the first work control unit 15e operates the hanging work device 5 to achieve the optimal spraying position, taking into consideration, for example, information about the surrounding environment, information about the shape of the field, and the relative positional relationship with other aircraft 1.

[0073] The first memory unit 16 of the aircraft 1 is composed of a non-transitory storage medium installed in the aircraft 1, and stores the program of the first control unit 15, its own status information, flight plans, work plans, etc.

[0074] The energy source 21 of the energy source aircraft 2A is composed of a battery such as a cassette-interchangeable battery. This energy source 21 can be used as a flight energy source supplied for the flight of multiple aircraft 1, a work energy source for operating the first working unit 13 and the suspension work device 5 of the aircraft 1, a drive energy source for flying the aircraft itself, and a work energy source for operating the second working unit 23 and the suspension work device 5. If the energy source 21 is a cassette-interchangeable battery, it can be replaced at a designated replacement location if the energy source aircraft 2A runs out of power.

[0075] The second communication unit 22 of the energy source aircraft 2A is capable of wired or wireless communication with the communication device 32 of the first communication unit 12 of the aircraft 1, and is configured with a communication interface capable of wireless communication with a management device (not shown) configured with a computer, tablet, mobile terminal, etc. installed on the ground. The second working unit 23 of the energy source aircraft 2A is configured with a camera, a tank for storing the substance to be sprayed, a pump and nozzle for spraying the substance, etc. The operation of this second working unit 23 is controlled by the second work control unit 25e.

[0076] The second satellite positioning device 24 of the energy source aircraft 2A has the same configuration as the first satellite positioning device 14 of the aircraft 1, and therefore a description thereof will be omitted.

[0077] The second memory unit 26 of the energy source aircraft 2A is composed of a non-transitory storage medium installed in the energy source aircraft 2A, and stores the program of the second control unit 25, its own status information, energy plan, flight plan, work plan, etc. The energy plan is information such as the amount of electricity stored in the first power receiving unit 11 and the set value for starting charging, the amount of electricity stored in the energy source 21, and a predetermined value that serves as the threshold for charging other aircraft 1.

[0078] The second energy control unit 25a of the energy source aircraft 2A controls its own energy source 21 according to the energy status (charge level, remaining capacity, etc.) of the first power receiving unit 11 of each aircraft 1 received via the second communication unit 22. The second energy control unit 25a supplies energy to an aircraft 1 when the amount of stored power in the first power receiving unit 11 acquired by the second status acquisition unit 25b falls below a set value. This energy supply may be via wired power supply via a cable or wireless power supply. Furthermore, the second energy control unit 25a may replace the energy source aircraft 2A with another aircraft 1 with the most stored power or a new energy source aircraft 2A when the amount of stored power in the energy source 21 falls below a predetermined value (the value obtained by multiplying the power value at which the energy source aircraft 2A can fly by a safety factor), for example. In other words, the energy source aircraft 2A is any one of multiple aircraft 1. In addition, the second energy control unit 25a may, for example, when the stored amount of energy source 21 falls below a predetermined value (a value obtained by multiplying the power value at which the aircraft itself can fly by a safety factor), detach all aircraft 1 and have each aircraft fly independently to fly itself to a charging point.

[0079] The second status acquisition unit 25b of the energy source aircraft 2A acquires the energy status (charge amount, remaining capacity, etc.) of the first power receiving unit 11 in each aircraft 1 via the second communication unit 22, as well as its own energy status (charge amount, remaining capacity, etc.), its own flight status, and surrounding environmental information. In addition, the second status acquisition unit 25b acquires various statuses that affect the flight of the energy source aircraft 2A, such as altitude information of the energy source aircraft 2A if the energy source aircraft 2A is equipped with a barometric pressure sensor, flight attitude of the energy source aircraft 2A if a gyro sensor is equipped, flight speed of the energy source aircraft 2A if a speed sensor is equipped, and surrounding wind conditions if a wind speed sensor or wind direction sensor is equipped.

[0080] The second collective flight control unit 25c, second solo flight control unit 25d, and second work control unit 25e of the energy source aircraft 2A are configured similarly to the first collective flight control unit 15c, first solo flight control unit 15d, and first work control unit 15e of the aircraft 1, respectively, and therefore will not be described here. When the aircraft 1 and the energy source aircraft 2A fly cooperatively, a master-slave relationship may exist between the first collective flight control unit 15c and the second collective flight control unit 25c, or a master-slave relationship may exist between the first collective flight control units 15c of multiple aircraft 1.

[0081] As shown in Figures 1 to 3, the connection mechanism 3 has a frame body 30, an energy source 31, a communication device 32, and a control device 33. The aircraft system 100 also has a connection guide member F that guides the connection between the connection mechanism 3 and the aircraft 1 and energy source aircraft 2A. A frame body 40 of the connection mechanism 4 is connected to the upper part of the frame body 30, and the aircraft 1 and energy source aircraft 2A are connected to the lower part of the frame body 30. In this embodiment, four aircraft 1 and one energy source aircraft 2A are connected near the five vertices of the frame body 30, which is pentagonal in plan view.

[0082] The connection mechanism 4 has a frame body 40, an energy source 41, a communication device 42, a control device 43, and a wire 44. The wire 44 and the linking mechanism 3 are connected to the bottom of the frame body 40. The suspension work device 5 is connected to the lower end of the wire 44. In other words, the suspension work device 5 is suspended by the wire 44 of the connection mechanism 4. The connection mechanism 4 may be equipped with a mechanism (for example, a winch) for changing the length of the wire 44, a mechanism for releasing the connection between the wire 44 and the suspension work device 5, and a mechanism for releasing the connection between the frame body 40 and the wire 44. The linking mechanism 3 and the connection mechanism 4 may be configured as an integrated structure.

[0083] The coupling guide members F are provided across the coupling mechanism 3 and the flying vehicle 1 and energy source flying vehicle 2A. The coupling guide members F may be members that guide the coupling mechanism 3 and the flying vehicle 1 and energy source flying vehicle 2A so that they are coupled in a predetermined positional relationship and orientation. For example, a groove may be formed in one coupling guide member F, and a rib that can engage with the groove may be formed in the other coupling guide member F. The coupling guide members F may include connectors for communication lines, power lines, fuel pipes, etc. One coupling guide member F may have a hollow cone that flares outward, and the other coupling guide member F may have a rod-shaped portion that can enter the interior of the hollow cone. In this case, when the rod-shaped portion enters the interior of the hollow cone, the inner wall of the hollow cone guides the rod-shaped portion to the center of the hollow cone, making it easier to couple the coupling guide members F together.

[0084] 1 and 4, the connection mechanism 4 may be formed from a hot air balloon or a balloon filled with a gas such as helium that has a specific gravity less than that of air, and may have a buoyancy unit 45 that can lift the suspension work device 5. The buoyancy unit 45 may generate buoyancy by expanding with thermal energy generated by the energy source 41. The thermal energy generated by the energy source 41 refers to exhaust heat if the energy source 41 is a battery or a generator, or thermal energy generated by exhaust gas if the energy source 41 is an internal combustion engine.

[0085] The buoyancy force that the buoyancy unit 45 experiences in the air is greater than the gravity that the buoyancy unit 45 experiences on Earth. That is, the buoyancy of the buoyancy unit 45 alone is greater than gravity, generating an upward force in the air. This applies an upward force to the entire air vehicle 1 or energy source air vehicle 2A, reducing the overall load of the air vehicle 1 or energy source air vehicle 2A that must be supported by lift. Furthermore, in this embodiment, when the air vehicle 1 or energy source air vehicle 2A is operated so as to generate a pushing force that can cause the air vehicle 1 or energy source air vehicle 2A to descend downward, the downward pushing force and the upward lift force generated by the buoyancy unit 45 can be made to counteract each other in the air vehicle 1 or energy source air vehicle 2A. This facilitates precise control of the ascent or descent speed of the air vehicle 1 or energy source air vehicle 2A at low speeds when the air vehicle 1 or energy source air vehicle 2A takes off or lands.

[0086] 1 and 9, the aircraft system 100 may include a connecting aircraft 6 that connects the energy supplier 2 and the aircraft 1 with a cable Ca (an example of a wired connection) made of wire or the like. The connecting aircraft 6 includes a third power receiving unit 61, a third communication unit 62, a third satellite positioning device 63, and a connection control unit 64.

[0087] The third power receiving unit 61 of the connecting aircraft 6 is composed of a battery storing a predetermined amount of electricity, and can receive power from the energy supplier 2 via cable Ca, but contactless power supply such as electromagnetic induction or magnetic resonance may also be used. The third communication unit 62 of the connecting aircraft 6 is composed of a communication interface capable of wired or wireless communication with the first communication unit 12 of the aircraft 1 and the energy supplier 2. The third satellite positioning device 63 of the connecting aircraft 6 has the same configuration as the first satellite positioning device 14 of the aircraft 1, and therefore will not be described here.

[0088] The connection control unit 64 of the connecting aircraft 6 controls its own flight position based on the relative positions of the aircraft 1 and the energy supplier 2 and the positions of artificial objects. This connection control unit 64 guides the cable Ca so that it avoids fixed objects such as utility poles and trees, and moving objects such as work vehicles, and assists the work position of the aircraft 1. This enables the aircraft 1 to set a flight route that bypasses obstructing objects, improving work efficiency.

[0089] The first communication unit 12 of each aircraft 1, the second communication unit 22 of the energy source aircraft 2A, the communication device 42 of the connection mechanism 4, the communication device 32 of the linking mechanism 3, the communication device 52 of the lifting work device 5 and the third communication unit 62 of the connecting aircraft 6 are configured to be able to communicate with each other via wired or wireless communication.

[0090] Energy source 21 of energy source vehicle 2A is configured to be able to supply energy to vehicle 1 and connecting vehicle 6, as well as to linking mechanism 3, connecting mechanism 4, and suspension work device 5. The energy amount of energy source 31 of linking mechanism 3 is managed by control device 33, and is configured to be able to supply energy to vehicle 1, connecting vehicle 6, connecting mechanism 4, and suspension work device 5. The energy amount of energy source 41 of connecting mechanism 4 is managed by control device 43, and is configured to be able to supply energy to vehicle 1, connecting vehicle 6, connecting mechanism 3, and suspension work device 5. The energy amount of energy source 51 of suspension work device 5 is managed by control device 53, and is configured to be able to supply energy to vehicle 1, connecting vehicle 6, linking mechanism 3, connecting mechanism 4, and other suspension work devices 5.

[0091] [Second embodiment] 5, the aircraft system 100 according to this embodiment includes an aircraft 1 (corresponding to the aircraft main body) that is powered by a battery, and a support aircraft 2C (corresponding to the energy supplier 2, corresponding to the aircraft main body) that can fly and assist the aircraft 1. In this embodiment, the aircraft 1 is a small drone, and the support aircraft 2C is a large drone or a balloon (a buoyant aircraft), etc.

[0092] The aircraft 1 includes a first power receiving unit 11, a first communication unit 12, a first working unit 13, a first satellite positioning device 14, a first control unit 15, and a first memory unit 16. The first control unit 15 includes a first energy control unit 15a, a first status acquisition unit 15b, a first solo flight control unit 15d, and a first work control unit 15e. These components are similar to those of the aircraft 1 according to the first embodiment described above, and therefore will not be described further.

[0093] The support aircraft 2C includes a coupling mechanism 27 that couples itself to the aircraft 1, and a working device 29. The coupling mechanism 27 includes a second control unit 28, an energy source 27a consisting of a large-capacity battery, a communication device 27b, a coupling guide member 27c, a second satellite positioning device 27d, and a second memory unit 27e. The second control unit 28 includes a second energy control unit 28a (corresponding to an energy control unit), a second status acquisition unit 28b, a flight coupling control unit 28c, a cooperative flight control unit 28d, a second solo flight control unit 28e, and a second work control unit 28f.

[0094] As shown in FIGS. 5 and 8, the aircraft 1 has a first main body 1A, a first leg 1B engageable with the coupling guide member 27c and projecting downward from the first main body 1A, and multiple (three in FIG. 8) first arms 1C that are openable and closable and project laterally from the first main body 1A. A first rotor 1Ca is connected to each of the first arms 1C, and lift and thrust are generated by rotating the first rotor 1Ca using a driving force such as a motor (not shown). A first working unit 13 is connected across the first main body 1A and the first arms 1C. The first main body 1A houses a first power receiving unit 11, a first communication unit 12, a first satellite positioning device 14, a first control unit 15, and a first memory unit 16.

[0095] As shown in Figures 5 to 8, the connecting mechanism 27 of the support aircraft 2C connects itself to multiple aircraft 1 and includes a second main body 27A that supports the multiple aircraft 1 and multiple (two in Figure 6) U-shaped second legs 27B that protrude from the second main body 27A as support legs for landing on the ground. A working device 29 is connected to the inside of the second legs 27B and below the second main body 27A of the connecting mechanism 27. Multiple (six in Figure 6) second rotors 27Aa are connected to the second main body 27A, and these second rotors 27Aa are rotated by a driving force such as a motor (not shown) to generate lift and propulsion.

[0096] The second main body 27A houses the second control unit 28, the energy source 27a, the communication device 27b, the second satellite positioning device 27d, and the second memory unit 27e. The second main body 27A also houses a coupling guide member 27c that guides the coupling of the multiple aircraft 1 and the support aircraft 2C. The coupling guide member 27c in this embodiment includes a mechanism for gripping the first leg 1B of the aircraft 1 and is formed in a hollow conical shape with a tapered groove or a receiving groove that is larger than the first leg 1B. The coupling guide member 27c may include connectors for communication lines, power lines, fuel pipes, etc., or may be a groove that couples to a rib formed on the aircraft 1.

[0097] The energy source 27a of the support aircraft 2C is composed of a battery such as a cassette-replaceable battery. This energy source 27a can be used as a flight energy source supplied for the flight of the aircraft 1, a working energy source for operating the first working unit 13 of the aircraft 1, a driving energy source for flying the aircraft itself, and a working energy source for operating the working device 29. If the energy source 27a is a cassette-replaceable battery, it can be replaced at a designated replacement location if the amount of power is insufficient.

[0098] The communication device 27b of the support aircraft 2C is configured with a communication interface capable of wired or wireless communication with the first communication unit 12 of the aircraft 1 and wireless communication with a management device (not shown) installed on the ground and configured with a computer, tablet, mobile terminal, etc. The work device 29 of the support aircraft 2C is configured with agricultural work equipment such as a camera capable of photographing the state of the field and a heavy spray material storage tank. This work device 29 may be directly fixed to the second main body unit 27A or may be suspended by a wire or the like like the suspended work device 5 shown in FIG. 3. The operation of the work device 29 in this embodiment is controlled by the second work control unit 28f, but the work device 29 may also have a built-in communication device, control device, energy source, etc.

[0099] The second satellite positioning device 27d of the support aircraft 2C receives GNSS (Global Navigation Satellite System) signals from artificial satellites, generates positioning data indicating its own position information (positioning information including latitude and longitude) based on the received signals, and transmits the data to the second status acquisition unit 28b. In other words, the second satellite positioning device 27d can detect its own position information (positioning information including latitude and longitude) using a GNSS consisting of GPS, QZSS, Galileo, etc. The position information of the support aircraft 2C detected by this second satellite positioning device 27d is associated with the time of detection and stored in the second storage unit 27e, and is configured to be transmittable to the management device via the communication device 27b.

[0100] The second memory unit 27e of the support aircraft 2C is composed of a non-transitory storage medium installed in itself, and stores the program of the second control unit 28, its own status information and flight plan, the coordinated flight plan of the aircraft 1, the energy plan, the work plan, etc. The energy plan is information such as the amount of electricity stored in the first power receiving unit 11 and the set value for starting charging, the amount stored in the energy source 27a, and a predetermined value that is the threshold at which the aircraft 1 can be charged.

[0101] The second energy control unit 28a of the support aircraft 2C controls its own energy source 27a according to the energy status (charge level, remaining capacity, etc.) of the first power receiving unit 11 of each aircraft 1 received via the communication device 27b. The second energy control unit 28a supplies energy to an aircraft 1 when the amount of power stored in the first power receiving unit 11 acquired by the second status acquisition unit 28b falls below a set value. This energy supply may be wired power supply via cable Cb or contactless power supply. Furthermore, the second energy control unit 28a may, for example, switch the support aircraft 2C when the amount of power stored in the energy source 27a falls below a predetermined value (a value obtained by multiplying the power value at which the aircraft 2C can fly by a safety factor), or may detach all aircraft 1 and fly each independently.

[0102] The second status acquisition unit 28b of the support aircraft 2C acquires, via the communication device 27b, the energy status (charge level, remaining capacity, etc.) of the first power receiving unit 11 in each aircraft 1 and the position information of each aircraft 1 detected by the first satellite positioning device 14. The second status acquisition unit 28b also acquires the energy status (charge level, remaining capacity, etc.) of the energy source 27a and its own position information detected by the second satellite positioning device 27d. Furthermore, the second status acquisition unit 28b acquires various statuses that affect the flight of the support aircraft 2C, such as altitude information of the support aircraft 2C if the support aircraft 2C is equipped with a barometric pressure sensor, the flight attitude of the support aircraft 2C if the support aircraft 2C is equipped with a gyro sensor, the flight speed of the support aircraft 2C if the support aircraft 2C is equipped with a speed sensor, and surrounding wind conditions if the support aircraft 2C is equipped with a wind speed sensor or wind direction sensor.

[0103] The flight coupling control unit 28c of the support aircraft 2C controls the flight of the aircraft 1 so that the multiple aircraft 1 and the coupling mechanism 27 can be coupled with the same position and orientation. This flight coupling control unit 28c calculates the relative position of the aircraft 1 and the support aircraft 2C, for example, from the current position information of the aircraft 1 detected by the first satellite positioning device 14 and the current position information of the support aircraft 2C detected by the second satellite positioning device 21d, and controls the coupling of the multiple aircraft 1 and the support aircraft 2C based on the flight plan of the aircraft 1 stored in the second memory unit 27e. At this time, a mark may be provided on the coupling guide member 27c, and the flight coupling control unit 28c may control the coupling while recognizing this mark with a camera mounted on the aircraft 1. The flight coupling control unit 28c may also change the allocation of the coupling positions of the multiple aircraft 1, or may change the coupling attitude of the multiple aircraft 1, for example, from horizontal to vertical.

[0104] The cooperative flight control unit 28d of the support aircraft 2C controls the cooperative flight of the multiple aircraft 1. This cooperative flight control unit 28d controls the flight formation of the multiple aircraft 1 based on, for example, the current position information of each aircraft 1 detected by the first satellite positioning device 14 and the cooperative flight plan of the aircraft 1 stored in the second memory unit 27e. This flight formation can involve having the multiple aircraft 1 fly in formation in a horizontal row (such as a single file or a V-shaped row) to spray all at once, or the flow of sprayed spray can be confirmed with a camera on the work device 29 and the formation of the aircraft 1 can be changed.

[0105] The cooperative flight control unit 28d may generate a cooperative flight instruction based on at least one of a cooperative reference position and a cooperative reference direction. The cooperative reference position and the cooperative reference direction are positions and directions that serve as references when multiple aircraft 1 fly cooperatively. The flight plan stored in the second memory unit 26 may include a work plan for the first working unit 13 and the work implement 29. The work plan may include the location where the first working unit 13 will perform work (e.g., the location of the field to be worked on, the location where the work will be performed in the field, etc.) and / or the work content (e.g., the operating intensity, operating time, operating interval, etc. of the work implement).

[0106] The second solo flight control unit 28e of the support aircraft 2C executes control to separate some of the aircraft 1 from the group of multiple aircraft 1. For example, the second solo flight control unit 28e calculates a solo flight path based on the current position information of the aircraft 1 detected by the first satellite positioning device 14 and the flight plan of the aircraft 1 stored in the second memory unit 27e, and causes the aircraft 1 to fly solo. The second solo flight control unit 28e may generate solo flight instructions based on at least one of a solo reference position and a solo reference direction. The solo reference position and solo reference direction are the position and direction that serve as references when multiple aircraft 1 fly solo.

[0107] The second work control unit 28f of the support aircraft 2C controls the operation of the work device 29, which is composed of a camera capable of photographing the condition of the field, a tank for storing the spray material, and a spray device including a pump and nozzle for spraying the spray material. This second work control unit 28f controls the work device 29 to photograph the condition of the field and the spraying status, for example. The second work control unit 28f may also control the operation of the work device 29, which is composed of heavy objects. For example, if the work device 29 is equipped with a large-capacity tank for storing the spray material, the second work control unit 28f controls the operation of a pump or the like that supplies the spray material to the first work unit 13 of the aircraft 1.

[0108] As an example of the air vehicle system 100 in this embodiment, Fig. 6 shows a perspective view of an air vehicle 1 of the air vehicle system 100 in operation, and Fig. 7 shows a perspective view of an air vehicle 1 of the air vehicle system 100 in standby. As shown in Fig. 6, multiple air vehicles 1 are wired to a support air vehicle 2C via cables Cb. This cable Cb can accommodate a communication line connecting the communication device 27b of the support air vehicle 2C to the first communication unit 12 of the air vehicle 1, a power line connecting the energy source 27a of the support air vehicle 2C to the first power receiving unit 11 of the air vehicle 1, or a pipeline for circulating fuel or spray materials.

[0109] 7, the flight coupling control unit 28c of the support aircraft 2C controls the flight of the aircraft 1 so that the multiple aircraft 1 and the coupling mechanism 27 are coupled together, and changes the first arm 1C of the coupled aircraft 1 to a closed position. This allows the multiple aircraft 1 to be moved to a predetermined work location at once using the energy source 27a of the support aircraft 2C.

[0110] The manner in which the aircraft 1 is connected to the energy source aircraft 2A according to the first embodiment or the support aircraft 2C according to the second embodiment can be modified in various ways. For example, the connection mechanism 3 or the connection mechanism 27 can connect multiple aircraft 1 in a state in which they are spaced apart vertically. The connection manner shown in Figures 2 and 7 is suitable for cases in which there is a large amount of space in the left-right direction and a small amount of space in the up-down direction. On the other hand, the connection manner in which multiple aircraft 1 are connected in a state in which they are spaced apart vertically is suitable for cases in which there is a small amount of space in the left-right direction and a large amount of space in the up-down direction. Note that the horizontal connection shown in Figures 2 and 7 and the three-dimensional connection in which multiple aircraft 1 are spaced apart vertically can be interchangeable.

[0111] The flying vehicle system 100 in this embodiment may also include the connection mechanism 4, the hanging work device 5, and the connecting flying vehicle 6 in the first embodiment. The support flying vehicle 2C in this embodiment may also be provided with a buoyancy unit 45 shown in FIG.

[0112] For example, as shown in Figure 9, the flying body system 100 may include a connecting flying body 6 that connects a mobile energy supply vehicle 2B (corresponding to the energy supply body 2) and the flying body 1 (which may also be a support flying body 2C) with a cable Ca (an example of a wired cable) made up of wires or the like. The energy supply vehicle 2B is a ground vehicle made up of a power supply vehicle, a fuel vehicle, or the like, but may also be a flying vehicle capable of flight.

[0113] For example, as shown in FIG. 10, the aircraft system 100 may connect a mobile work vehicle 2D (corresponding to the energy supplier 2 and the work device) and the aircraft 1 (which may also be a support aircraft 2C) with a cable Cc (an example of a wired connection) made of wires or the like. The work vehicle 2D may be a material transport vehicle that transports materials (seedlings, fuel, fertilizer, chemicals, etc.) to the agricultural work machine 7, a tractor, a rice transplanter, a combine harvester, a rice harvester, or a GPS base station. The work vehicle 2D is a ground vehicle, but may also be a flying vehicle capable of flight.

[0114] In the embodiment shown in FIG. 10 , the flying vehicle 1 receives power from the work vehicle 2D via cable Cc and travels back and forth between the work vehicle 2D and the agricultural work machine 7. For example, if the agricultural work machine 7 is a rice transplanter, a set of seedlings for one seedling supply to the agricultural work machine 7 can be stored in the loading platform of the work vehicle 2D and the seedlings can be transported all at once from the work vehicle 2D to the agricultural work machine 7, thereby simultaneously achieving labor savings and time efficiency. Note that the attachment and detachment of materials is performed by a human, and the flying vehicle may fly autonomously from the work vehicle 2D to the agricultural work machine 7 or may be operated by a human using a remote controller or the like. In addition to a method of replenishing seedlings when the agricultural work machine 7 returns to the ridge, the flying vehicle 1 can also fly and replenishing seedlings while the agricultural work machine 7 is traveling, allowing rice planting to continue uninterrupted.

[0115] [Third embodiment] 11 and 12, the flying body system 100 according to this embodiment includes an energy supplier 2 that supplies energy, and a buoyant flying body 8 that flies using thermal energy generated by the energy supplier 2. In this embodiment, the energy supplier 2 is configured as an engine-driven generator, and the buoyant flying body 8 is configured as a large balloon or the like.

[0116] The flying object system 100 according to this embodiment includes a work device 9 capable of performing a predetermined task, and an energy management device 10 that manages the thermal energy generated by the energy supplier 2.

[0117] As an example, the energy supplier 2 is configured as a generator that generates electricity by operating an internal combustion engine using fuel. That is, the energy supplier 2 has an energy source 20a that includes a power source supplied from a battery or a generator operated by the internal combustion engine, a fuel source for operating the internal combustion engine, and the like. The energy supplier 2 also has a heat supply unit 20b that directly supplies thermal energy generated by the energy source 20a to the buoyant aircraft 8. The thermal energy generated by the energy source 20a refers to the exhaust heat generated by the power generation of the energy source 20a and the thermal energy generated by the exhaust gas of the internal combustion engine. The heat supply unit 20b may be a heat exchange mechanism that heats helium gas or the like via a medium such as cooling water, or a heat-generating mechanism that uses the generated electricity. The energy supplier 2 also has a communication unit 20c that is capable of wired or wireless communication with the buoyant aircraft 8 and the working device 9.

[0118] The buoyant flying vehicle 8 has a buoyancy unit 81, an energy control unit 82, and a connection mechanism 83. The connection mechanism 83 houses an energy source 83a, a communication device 83b, and a satellite positioning device 83c. In this embodiment, the connection mechanism 83 also houses an energy supplier 2.

[0119] The working device 9 has an energy source 91 , a satellite positioning device 92 , a control device 93 , and a communication device 94 .

[0120] The buoyancy unit 81 generates buoyancy by expanding in response to thermal energy generated by the energy source 20a of the energy supplier 2. The buoyancy unit 81 can also generate buoyancy using the thermal energy generated by the energy source 83a of the buoyant flying vehicle 8 or the lift of a propeller, etc. This allows the buoyant flying vehicle 8 to function as a hovering flying vehicle and perform tasks suitable for hovering and slow flight (for example, harvesting or pollination).

[0121] The energy control unit 82 controls the energy source 83a of the buoyant aircraft 8 or the energy source 20a of the energy supplier 2 according to the energy state (remaining capacity, etc.) of the energy source 91 of the working device 9 received via the communication device 83b. For example, when the remaining energy of the energy source 91 of the working device 9 falls below a set value, the energy control unit 82 supplies energy from the energy source 83a of the buoyant aircraft 8 or the energy source 20a of the energy supplier 2 to the energy source 91. This energy supply may be wired via a cable Cd or may be contactless (for example, contactless power feeding). Furthermore, for example, when the stored amount of energy in the energy source 20a of the energy supplier 2 received via the energy source 83a of the buoyant flying vehicle 8 or the communication device 83b falls below a predetermined value (a value obtained by multiplying the power value required for flight by a safety factor), the energy control unit 82 may replace the buoyant flying vehicle 8 or the energy supplier 2, replenish energy at a predetermined energy replenishment location, or detach all of the work devices 9 and allow each to work independently. Furthermore, the energy management device 10 may collectively manage the energy of the energy supplier 2, the buoyant flying vehicle 8, and the work devices 9.

[0122] The connection mechanism 83 in this embodiment is configured as a housing integrated with the buoyant flying vehicle 8 so as to connect the working device 9 and the buoyant flying vehicle 8. This housing accommodates the energy supplier 2. The housing also accommodates the energy source 83a, the communication device 83b, and the satellite positioning device 83c. The connection mechanism 83 may be configured as a housing suspended by a wire or the like, or may be connected to the energy supplier 2 installed on the ground by a cable or the like. Furthermore, when the working device 9 is a flying vehicle, the connection mechanism 83 may be a mechanism that can take off and land inside the housing.

[0123] The energy source 83a of the buoyant flying vehicle 8 is composed of a combustion device such as a burner, a heat exchanger that heats helium gas or the like through a medium such as cooling water, a heat generating device that uses generated electricity, a power generating device that rotates a propeller or the like, an internal combustion engine, or a power generating device that generates electricity using the driving force of an internal combustion engine, etc. In this embodiment, this energy source 83a can be used as the energy supplier 2.

[0124] The communication device 83b of the buoyant flying vehicle 8 is capable of wired or wireless communication with the communication unit 20c of the energy supplier 2 and the communication device 94 of the working device 9, and is configured with a communication interface capable of wireless communication with the energy management device 10, which is configured with a computer, tablet, mobile terminal, etc. installed on the ground. Note that the buoyant flying vehicle 8 itself may be provided with a working unit that performs a predetermined task.

[0125] The satellite positioning device 83c of the buoyant aircraft 8 receives GNSS (Global Navigation Satellite System) signals from artificial satellites and generates positioning data indicating its own position information (positioning information including latitude and longitude) based on the received signals. In other words, the satellite positioning device 83c can detect its own position information (positioning information including latitude and longitude) using a GNSS consisting of GPS, QZSS, Galileo, etc. The position information of the buoyant aircraft 8 detected by this satellite positioning device 83c is associated with the time of detection and can be transmitted to the energy management device 10 via the communication device 83b.

[0126] The work device 9 is composed of an air vehicle such as a drone that can perform a specified task while detecting its own position information using a satellite positioning device 92, agricultural machinery such as a tractor, rice transplanter, combine harvester, or rice huller, ground vehicles such as material transport vehicles, power supply vehicles, and fuel vehicles, a GPS base station, etc. The energy amount of the energy source 91 of the work device 9 is managed by a control device 93, and it is configured to be able to supply energy to the buoyant air vehicle 8, the energy supplier 2, and other work devices 9. The work device 9, which is connected to the buoyant air vehicle 8 by a cable Cd, may also perform anchor work to support the buoyant air vehicle 8.

[0127] In this embodiment, the aircraft system 100 is a parent-child type in which the buoyant aircraft 8 is a large balloon-type mother ship and the small drones that make up the work device 9 are wired to it via cable Cd. As a result, the slow-flying buoyant aircraft 8 is suitable for towing heavy loads such as batteries and medicines in an energy-efficient manner, and the work device 9 can take advantage of its light weight to move nimbly around the buoyant aircraft 8 and perform its work. Even if the buoyant aircraft 8 is blown away by external disturbances such as wind, the cable Cd acts as a buffer against the disturbance, minimizing the impact on the work device 9 performing the work. Note that the buoyant aircraft 8 as a stationary aircraft is not limited to a balloon; multiple work devices 9 may be connected to a roof-like structure or other structure via a connection mechanism 83.

[0128] [Other embodiments] (1) The air vehicle system 100 may be configured so that it can be used for purposes such as repelling birds and animals, security, and crime prevention. For example, the first working unit 13, the second working unit 23, the suspended work device 5, or the work device 29 may include a monitoring device that can recognize birds, animals, or suspicious persons from captured images, a deterrent device that emits sound or light to intimidate birds, animals, or suspicious persons, an alarm device that alerts the presence of birds, animals, or suspicious persons, etc.

[0129] (2) Aircraft system 100 may be configured to deal with weather conditions that adversely affect flight, such as strong winds, lightning strikes, and rainfall. For example, aircraft system 100 may include a sensor for observing the weather and an acquisition unit for acquiring information indicating the weather and weather forecast via communications. Aircraft system 100 may be configured to change the flight plan, perform an evacuation flight to a safe area, make an emergency landing, etc., depending on the weather or weather forecast.

[0130] (3) The aircraft 1, the energy source aircraft 2A, or the support aircraft 2C may be configured so that the relative positions of the two can be changed while they are coupled. For example, the coupling guide member F, 27c provided on the coupling mechanism 3, 27 may be configured so that it can be moved. This makes it possible to change the relative positions of the multiple aircraft 1 and the energy source aircraft 2A or the support aircraft 2C while the aircraft system 100 is flying.

[0131] (4) The air vehicle system 100 may be configured to cancel the operating noise of the rotors B, 1Ca, and 27Aa of the air vehicle 1, the energy source air vehicle 2A, or the support air vehicle 2C. For example, the operation of multiple rotors B, 1Ca, and 27Aa may be controlled to cancel each other's operating noise. For example, the air vehicle system 100 may be provided with a noise suppression device that generates a sound (noise-canceling sound) that cancels the operating noise of the rotors B, 1Ca, and 27Aa. The noise suppression device may be configured to generate the noise-canceling sound based on a control amount sent to the rotors B, 1Ca, and 27Aa.

[0132] (5) The devices constituting the air vehicle system 100 may be designed to be interchangeable among various types of air vehicle systems 100. For example, the coupling mechanisms 3 and 27 may have common specifications so that they can be coupled to various types of air vehicle systems 100.

[0133] (6) The air vehicle 1, the energy source air vehicle 2A, or the support air vehicle 2C may be equipped with a buoyant body (such as a balloon) that provides buoyancy to the air vehicle 1, the energy source air vehicle 2A, or the support air vehicle 2C. This makes it easier to hover the air vehicle system 100 at a predetermined operating position.

[0134] (7) Flight control of the aircraft 1, the energy source aircraft 2A, the support aircraft 2C, or the buoyant aircraft 8 may be performed using sensor information at the work site. This sensor information is acquired by mobile sensors mounted on smart agricultural machinery or fixed sensors such as GPS base stations.

[0135] (8) The flight control of the aircraft 1, the energy source aircraft 2A, the support aircraft 2C, or the buoyant aircraft 8 may be linked to smart agricultural machinery in the supply chain. For example, flight control may be performed based on the operation information of a grain dryer to ensure optimal harvest timing.

[0136] (9) In addition to the weight of the aircraft 1, energy source aircraft 2A, or support aircraft 2C, a pushing force may be actively generated, and the aircraft 1, energy source aircraft 2A, or support aircraft 2C may be used for agricultural work involving heavy loads, such as plowing.

[0137] (10) In the above-described embodiment, when an energy shortage occurs, the energy source aircraft 2A or the support aircraft 2C is detached or replaced, but this is not limited to an energy shortage and may also be due to a malfunction of the aircraft, etc.

[0138] (11) In the above-described embodiment, the support aircraft 2C controlled the flight of the aircraft 1, but various modifications are possible as long as the support aircraft 2C assists the aircraft 1. For example, the flight of the aircraft 1 and the support aircraft 2C may be automatically controlled by a management device installed on the ground, or may be manually controlled using a remote controller.

[0139] (12) In the above-described embodiment, the first power receiving unit 11 and the energy source 21, 27a are described as batteries, but they may also be configured as an internal combustion engine. In this case, the energy supplied from the energy source 21, 27a serves as fuel for operating the internal combustion engine. If the energy source 21, 27a is an internal combustion engine, the flight driving force of the aircraft 1, the energy source aircraft 2A, and the support aircraft 2C can be increased. [Industrial Applicability]

[0140] The present invention can be used in an aircraft system equipped with an energy supplier capable of supplying energy. [Explanation of symbols]

[0141] 1: Flying object 2: Energy supplier 2A: Energy Source Flying Vehicle 2B: Energy supply vehicle 2C: Support aircraft 2D: Work vehicle (work equipment) 3:Connection mechanism 4: Connection mechanism 5: Lifting work device (working part) 6: Connecting aircraft 8: Buoyant flying object 9: Work equipment 20a: Energy Source 21: Energy source 25a: Second energy control section (energy control section) 27:Connection mechanism 27a: Energy source 28a: Second energy control section (energy control section) 29: Work equipment 31: Energy source 41: Energy source (energy source for work) 45: Buoyancy section 51: Energy Source 64: Connection control section 83: Connection mechanism 83a: Energy source 91: Energy Source 100: Aircraft Systems

Claims

1. A connecting mechanism formed by a frame body; a plurality of flying bodies coupled to the frame body; a connection mechanism coupled to the frame body; a working unit connected to the connection mechanism; an energy source provided on the frame body to supply energy to the flying vehicle.

2. The flying vehicle system according to claim 1 , wherein the connection mechanism has a buoyancy section capable of lifting the working section.

3. The air vehicle system according to claim 1 , wherein the connection mechanism includes a work energy source capable of supplying energy to the working unit.

4. 4. The flying vehicle system according to claim 1, wherein the energy is fuel supplied to an internal combustion engine or electricity generated by the internal combustion engine.

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